:zap: add human-object interaction demo

processed/amass/assets/robots/unitree_g1/scene.xml

@@ -1,5 +1,5 @@
 <mujoco model="g1 scene">
-  <compiler angle="radian" meshdir="../../../assets/robots/g1/meshes" autolimits="true" />
+  <compiler angle="radian" meshdir="../../../assets/robots/unitree_g1/meshes" autolimits="true" />
 
   <!-- performance options -->
   <option timestep="0.02" iterations="2" ls_iterations="10">

processed/{hdmi/g1/none/move_suitcase/0/trajectory_reference.npz → amass/unitree_g1/humanoid/sprint/0/trajectory_ik.npz}

@@ -1,3 +1,3 @@
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processed/amass/unitree_g1/humanoid/sprint/0/trajectory_kinematic.npz

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processed/amass/unitree_g1/humanoid/sprint/0/trajectory_mjwp.npz

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processed/amass/unitree_g1/humanoid/sprint/0/visualization_ik.mp4

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processed/amass/unitree_g1/humanoid/sprint/0/visualization_kinematic.mp4

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processed/amass/unitree_g1/humanoid/sprint/0/visualization_mjwp.mp4

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processed/amass/unitree_g1/humanoid/sprint/scene.xml

@@ -1,5 +1,5 @@
 <mujoco model="g1 scene">
-  <compiler angle="radian" meshdir="../../../assets/robots/g1/meshes" autolimits="true" />
+  <compiler angle="radian" meshdir="../../../assets/robots/unitree_g1/meshes" autolimits="true" />
 
   <!-- performance options -->
   <option timestep="0.02" iterations="2" ls_iterations="10">

processed/amass/unitree_g1/humanoid/sprint_terrain/0/trajectory_gmr.pkl

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+size 19029

processed/amass/unitree_g1/humanoid/sprint_terrain/0/trajectory_ik.npz

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+size 51942

processed/amass/unitree_g1/humanoid/sprint_terrain/0/trajectory_kinematic.npz

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processed/amass/unitree_g1/humanoid/sprint_terrain/0/trajectory_mjwp.npz

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processed/amass/unitree_g1/humanoid/sprint_terrain/0/visualization_ik.mp4

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processed/amass/unitree_g1/humanoid/sprint_terrain/0/visualization_kinematic.mp4

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processed/amass/unitree_g1/humanoid/sprint_terrain/0/visualization_mjwp.mp4

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+size 531987

processed/amass/unitree_g1/humanoid/sprint_terrain/scene.xml

@@ -0,0 +1,641 @@
+<mujoco model="g1 scene">
+  <compiler angle="radian" meshdir="../../../assets/robots/unitree_g1/meshes" autolimits="true" />
+
+  <!-- performance options -->
+  <option timestep="0.02" iterations="5" ls_iterations="20">
+    <flag eulerdamp="disable" />
+  </option>
+
+  <visual>
+    <global azimuth="135" elevation="-25" offwidth="1920" offheight="1080" />
+    <quality shadowsize="8192" />
+    <headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0" />
+    <scale forcewidth="0.25" contactwidth="0.4" contactheight="0.15" framelength="5"
+      framewidth="0.3" />
+    <rgba haze="0.15 0.25 0.35 1" force="1 0 0 1" />
+  </visual>
+
+  <custom>
+    <numeric data="15" name="max_contact_points" />
+    <numeric data="15" name="max_geom_pairs" />
+  </custom>
+
+  <default>
+    <default class="g1">
+      <default class="visual">
+        <geom group="2" type="mesh" density="0" material="silver" />
+      </default>
+      <default class="collision">
+        <geom group="3" rgba="0 1 0 1" type="sphere" />
+        <default class="hand_collision">
+          <geom type="sphere" pos="0.1 0.0 0.0" size="0.05" />
+        </default>
+        <default class="foot_collision">
+          <geom type="sphere" size="0.005" priority="1" friction="2.0" condim="3" />
+        </default>
+
+      </default>
+      <site group="5" rgba="1 0 0 1" />
+      <!-- Disable all contacts and use explicit contact pairs. -->
+      <geom condim="1" contype="0" conaffinity="0" />
+      <position kp="500" dampratio="1" inheritrange="1" />
+      <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+
+      <default class="hip">
+        <default class="hip_pitch">
+          <joint axis="0 1 0" range="-2.5307 2.8798" />
+        </default>
+        <default class="hip_roll">
+          <joint axis="1 0 0" range="-0.5236 2.9671" />
+        </default>
+        <default class="hip_yaw">
+          <joint axis="0 0 1" range="-2.7576 2.7576" />
+        </default>
+      </default>
+      <default class="knee">
+        <joint axis="0 1 0" range="-0.087267 2.8798" />
+      </default>
+      <default class="ankle">
+        <position kp="500" dampratio="1" inheritrange="1" />
+        <default class="ankle_pitch">
+          <joint axis="0 1 0" range="-0.87267 0.5236" />
+        </default>
+        <default class="ankle_roll">
+          <joint axis="1 0 0" range="-0.2618 0.2618" />
+        </default>
+      </default>
+
+      <default class="waist_yaw">
+        <joint axis="0 0 1" range="-2.618 2.618" />
+      </default>
+      <default class="waist_pitch">
+        <joint axis="0 1 0" range="-0.52 0.52" />
+      </default>
+      <default class="waist_roll">
+        <joint axis="1 0 0" range="-0.52 0.52" />
+      </default>
+
+      <default class="shoulder">
+        <default class="shoulder_pitch">
+          <joint axis="0 1 0" range="-3.0892 2.6704" />
+        </default>
+        <default class="shoulder_roll">
+          <joint axis="1 0 0" />
+        </default>
+        <default class="shoulder_yaw">
+          <joint axis="0 0 1" range="-2.618 2.618" />
+        </default>
+      </default>
+
+      <default class="elbow">
+        <joint axis="0 1 0" range="-1.0472 2.0944" />
+      </default>
+
+      <default class="wrist">
+        <position kp="500" dampratio="1" inheritrange="1" />
+        <default class="wrist_roll">
+          <joint axis="1 0 0" range="-1.97222 1.97222" />
+        </default>
+        <default class="wrist_pitch">
+          <joint axis="0 1 0" range="-1.61443 1.61443" />
+        </default>
+        <default class="wrist_yaw">
+          <joint axis="0 0 1" range="-1.61443 1.61443" />
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <texture type="skybox" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="3072" height="3072" />
+    <texture type="2d" colorspace="auto" name="groundplane" builtin="checker" mark="edge"
+      rgb1="1 1 1" rgb2="1.0 1.0 1.0" markrgb="1.0 1.0 1.0" width="300" height="300" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="4 4" />
+
+    <material name="silver" rgba="0.7 0.7 0.7 1" />
+    <material name="black" rgba="0.2 0.2 0.2 1" />
+
+    <mesh name="pelvis" file="pelvis.STL" />
+    <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
+    <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
+    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
+    <mesh name="left_knee_link" file="left_knee_link.STL" />
+    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
+    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
+    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
+    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
+    <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
+    <mesh name="right_knee_link" file="right_knee_link.STL" />
+    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
+    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
+    <mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL" />
+    <mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL" />
+    <mesh name="torso_link" file="torso_link_rev_1_0.STL" />
+    <mesh name="logo_link" file="logo_link.STL" />
+    <mesh name="head_link" file="head_link.STL" />
+    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
+    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
+    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
+    <mesh name="left_elbow_link" file="left_elbow_link.STL" />
+    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL" />
+    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL" />
+    <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL" />
+    <mesh name="left_rubber_hand" file="left_rubber_hand.STL" />
+    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
+    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
+    <mesh name="right_elbow_link" file="right_elbow_link.STL" />
+    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL" />
+    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL" />
+    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL" />
+    <mesh name="right_rubber_hand" file="right_rubber_hand.STL" />
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 5" dir="0 0 -1" type="directional" />
+    <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" />
+    <!-- add terrain -->
+    <!-- Interpolate 5 boxes from start to end position -->
+    <!-- <geom name="box0" pos="-1.80725026 -1.29974377 0" size="0.6 0.6 0.001" type="box"
+      material="groundplane" quat="0.92 0 0 0.38" /> -->
+    <!-- <geom name="box1" pos="-0.646250515 -0.655115173 0" size="0.6 1.0 0.1" type="box"
+      rgba="0.5 0.5 0.5 1" quat="0.92 0 0 0.38" /> -->
+    <geom name="box1" pos="0.51474923 -0.010486573 0" size="0.6 1.0 0.1" type="box"
+      rgba="0.5 0.5 0.5 1" quat="0.92 0 0 0.38" />
+    <geom name="box3" pos="0.9 0.433142022 0" size="0.6 1.0 0.2" type="box"
+      rgba="0.5 0.5 0.5 1" quat="0.92 0 0 0.38" />
+    <!-- <geom name="box4" pos="1.84675038 1.27666962 0" size="0.6 0.3 0.20" type="box"
+      material="groundplane" quat="0.92 0 0 0.38" /> -->
+
+    <body name="pelvis" pos="0 0 0.793" childclass="g1">
+      <camera name="track" pos="1.734 -1.135 .35" xyaxes="0.552 0.834 -0.000 -0.170 0.112 0.979"
+        mode="trackcom" />
+      <camera name="track2" pos="1.489 1.189 1.174" xyaxes="-0.609 0.793 -0.000 -0.221 -0.169 0.961"
+        mode="trackcom" />
+      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
+        diaginertia="0.010549 0.0093089 0.0079184" />
+      <freejoint name="floating_base_joint" />
+      <geom class="visual" material="black" mesh="pelvis" />
+      <geom class="visual" mesh="pelvis_contour_link" />
+      <!-- <geom name="pelvis_collision" class="collision" type="sphere" size="0.07" pos="0 0 -0.08"
+      /> -->
+      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
+      <site name="trace_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
+      <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
+        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122"
+          mass="1.35"
+          diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="left_hip_pitch_joint" class="hip_pitch" />
+        <geom class="visual" material="black" mesh="left_hip_pitch_link" />
+        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 -0.001045 -0.087934"
+            quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="left_hip_roll_joint" class="hip_roll" />
+          <geom class="visual" mesh="left_hip_roll_link" />
+          <!-- <geom name="left_hip_collision" class="collision" size="0.06"
+            fromto="0.02 0 0 0.02 0 -0.08" /> -->
+          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
+              mass="1.702"
+              diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="left_hip_yaw_joint" class="hip_yaw" />
+            <geom class="visual" mesh="left_hip_yaw_link" />
+            <!-- <geom name="left_thigh_collision" class="collision" size="0.055"
+              fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
+            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 0.003964 -0.12074"
+                quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
+                diaginertia="0.0113804 0.0112778 0.00146458" />
+              <joint name="left_knee_joint" class="knee" />
+              <geom class="visual" mesh="left_knee_link" />
+              <!-- <geom name="left_shin_collision" class="collision" size="0.045"
+                fromto="0.01 0 0 0.01 0 -0.15" />
+              <geom name="left_linkage_brace_collision" class="collision" size="0.03"
+                fromto="0.01 0 -0.2 0.01 0 -0.28" /> -->
+              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074"
+                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="left_ankle_pitch_joint" class="ankle_pitch" />
+                <geom class="visual" mesh="left_ankle_pitch_link" />
+                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
+                  <site name="left_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="left_ankle_roll_joint" class="ankle_roll" />
+                  <geom class="visual" material="black" mesh="left_ankle_roll_link" />
+                  <geom name="lf0" class="foot_collision" pos="-0.05 0.025 -0.03" />
+                  <geom name="lf1" class="foot_collision" pos="-0.05 -0.025 -0.03" />
+                  <geom name="lf2" class="foot_collision" pos="0.12 0.03 -0.03" />
+                  <geom name="lf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
+                  <site name="trace_left_foot" size="0.01" pos="0.04 0 -0.037" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
+        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122"
+          mass="1.35"
+          diaginertia="0.00181517 0.00153422 0.00116212" />
+        <joint name="right_hip_pitch_joint" class="hip_pitch" />
+        <geom class="visual" material="black" mesh="right_hip_pitch_link" />
+        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
+          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793"
+            mass="1.52"
+            diaginertia="0.00254986 0.00241169 0.00148755" />
+          <joint name="right_hip_roll_joint" class="hip_roll" />
+          <geom class="visual" mesh="right_hip_roll_link" />
+          <!-- <geom name="right_hip_collision" class="collision" size="0.06"
+            fromto="0.02 0 0 0.02 0 -0.08" /> -->
+          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
+            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598"
+              mass="1.702"
+              diaginertia="0.00776166 0.00717575 0.00160139" />
+            <joint name="right_hip_yaw_joint" class="hip_yaw" />
+            <geom class="visual" mesh="right_hip_yaw_link" />
+            <!-- <geom name="right_thigh_collision" class="collision" size="0.055"
+              fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
+            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
+              quat="0.996179 0 0.0873386 0">
+              <inertial pos="0.005457 -0.003964 -0.12074"
+                quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932"
+                diaginertia="0.011374 0.0112843 0.00146452" />
+              <joint name="right_knee_joint" class="knee" />
+              <geom class="visual" mesh="right_knee_link" />
+              <!-- <geom name="right_shin_collision" class="collision" size="0.045"
+                fromto="0.01 0 0 0.01 0 -0.15" />
+              <geom name="right_linkage_brace_collision" class="collision" size="0.03"
+                fromto="0.01 0 -0.2 0.01 0 -0.28" /> -->
+              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
+                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
+                  mass="0.074"
+                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
+                <joint name="right_ankle_pitch_joint" class="ankle_pitch" />
+                <geom class="visual" mesh="right_ankle_pitch_link" />
+                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
+                  <site name="right_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
+                  <inertial pos="0.026505 0 -0.016425"
+                    quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
+                    diaginertia="0.00167218 0.0016161 0.000217621" />
+                  <joint name="right_ankle_roll_joint" class="ankle_roll" />
+                  <geom class="visual" material="black" mesh="right_ankle_roll_link" />
+                  <geom name="rf0" class="foot_collision" pos="-0.05 0.025 -0.03" />
+                  <geom name="rf1" class="foot_collision" pos="-0.05 -0.025 -0.03" />
+                  <geom name="rf2" class="foot_collision" pos="0.12 0.03 -0.03" />
+                  <geom name="rf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
+                  <site name="trace_right_foot" size="0.01" pos="0.04 0 -0.037" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_yaw_link">
+        <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821"
+          mass="0.214"
+          diaginertia="0.000163531 0.000107714 0.000102205" />
+        <joint name="waist_yaw_joint" class="waist_yaw" />
+        <geom class="visual" mesh="waist_yaw_link" />
+        <body name="waist_roll_link" pos="-0.0039635 0 0.044">
+          <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086"
+            diaginertia="8.245e-06 7.079e-06 6.339e-06" />
+          <joint name="waist_roll_joint" class="waist_roll" />
+          <geom class="visual" mesh="waist_roll_link" />
+          <body name="torso_link">
+            <inertial pos="0.00203158 0.000339683 0.184568"
+              quat="0.999803 -6.03319e-05 0.0198256 0.00131986"
+              mass="7.818" diaginertia="0.121847 0.109825 0.0273735" />
+            <joint name="waist_pitch_joint" class="waist_pitch" />
+            <geom class="visual" mesh="torso_link" />
+            <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" class="visual" material="black"
+              mesh="logo_link" />
+            <geom pos="0.0039635 0 -0.044" class="visual" material="black" mesh="head_link" />
+            <!-- <geom name="torso_collision" class="collision" size="0.09"
+              fromto="0.01 0 0.08 0.01 0 0.2" />
+            <geom name="head_collision" class="collision" type="sphere" size="0.06" pos="0 0 .43" /> -->
+            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792" />
+            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778"
+              quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
+              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"
+                mass="0.718"
+                diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="left_shoulder_pitch_joint" class="shoulder_pitch" />
+              <geom class="visual" mesh="left_shoulder_pitch_link" />
+              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831"
+                quat="0.990268 -0.139172 0 0">
+                <inertial pos="-0.000227 0.00727 -0.063243"
+                  quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
+                  diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="left_shoulder_roll_joint" range="-1.5882 2.2515" class="shoulder_roll" />
+                <geom class="visual" mesh="left_shoulder_roll_link" />
+                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
+                  <inertial pos="0.010773 -0.002949 -0.072009"
+                    quat="0.716879 -0.0964829 -0.0679942 0.687134"
+                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="left_shoulder_yaw_joint" class="shoulder_yaw" />
+                  <geom class="visual" mesh="left_shoulder_yaw_link" />
+                  <!-- <geom name="left_shoulder_yaw_collision" class="collision" size="0.035"
+                    fromto="0 0 -0.08 0 0 0.05" /> -->
+                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 0.004454 -0.010062"
+                      quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="left_elbow_joint" class="elbow" />
+                    <geom class="visual" mesh="left_elbow_link" />
+                    <!-- <geom name="left_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
+                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
+                      <inertial pos="0.0171394 0.000537591 4.8864e-07"
+                        quat="0.575338 0.411667 -0.574906 0.411094"
+                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="left_wrist_roll_joint" class="wrist_roll" />
+                      <geom class="visual" mesh="left_wrist_roll_link" />
+                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 -0.00111685 -0.00111658"
+                          quat="0.249998 0.661363 0.293036 0.643608"
+                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="left_wrist_pitch_joint" class="wrist_pitch" />
+                        <geom class="visual" mesh="left_wrist_pitch_link" />
+                        <!-- <geom name="left_wrist_collision" class="collision" size="0.035"
+                          fromto="-0.01 0 0 0.06 0 0" /> -->
+                        <body name="left_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 0.000191745 0.00161742"
+                            quat="0.510571 0.526295 0.468078 0.493188"
+                            mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="left_wrist_yaw_joint" class="wrist_yaw" />
+                          <geom class="visual" mesh="left_wrist_yaw_link" />
+                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" class="visual"
+                            mesh="left_rubber_hand" />
+                          <site name="left_palm" pos="0.08 0 0" size="0.01" />
+                          <!-- <geom name="left_hand_collision" class="collision" size="0.035"
+                            rgba=".2 .6 .2 .2"
+                            fromto="0.07 0 0 0.15 -0.02 0" /> -->
+                          <geom name="lh" class="hand_collision" />
+                          <site name="trace_left_hand" size="0.01" pos="0.08 0 0" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778"
+              quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
+              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152"
+                mass="0.718"
+                diaginertia="0.000465864 0.000432842 0.000406394" />
+              <joint name="right_shoulder_pitch_joint" class="shoulder_pitch" />
+              <geom class="visual" mesh="right_shoulder_pitch_link" />
+              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831"
+                quat="0.990268 0.139172 0 0">
+                <inertial pos="-0.000227 -0.00727 -0.063243"
+                  quat="0.712604 -0.00710317 -0.0196223 0.701256"
+                  mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" />
+                <joint name="right_shoulder_roll_joint" range="-2.2515 1.5882" class="shoulder_roll" />
+                <geom class="visual" mesh="right_shoulder_roll_link" />
+                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
+                  <inertial pos="0.010773 0.002949 -0.072009"
+                    quat="0.687134 -0.0679942 -0.0964829 0.716879"
+                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
+                  <joint name="right_shoulder_yaw_joint" class="shoulder_yaw" />
+                  <geom class="visual" mesh="right_shoulder_yaw_link" />
+                  <!-- <geom name="right_shoulder_yaw_collision" class="collision" size="0.035"
+                    fromto="0 0 -0.08 0 0 0.05" /> -->
+                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
+                    <inertial pos="0.064956 -0.004454 -0.010062"
+                      quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
+                      diaginertia="0.000443035 0.000421612 0.000259353" />
+                    <joint name="right_elbow_joint" class="elbow" />
+                    <geom class="visual" mesh="right_elbow_link" />
+                    <!-- <geom name="right_elbow_yaw_collision" class="collision" size="0.035"
+                      fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
+                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
+                      <inertial pos="0.0171394 -0.000537591 4.8864e-07"
+                        quat="0.411667 0.575338 -0.411094 0.574906"
+                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
+                      <joint name="right_wrist_roll_joint" class="wrist_roll" />
+                      <geom class="visual" mesh="right_wrist_roll_link" />
+                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
+                        <inertial pos="0.0229999 0.00111685 -0.00111658"
+                          quat="0.643608 0.293036 0.661363 0.249998"
+                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
+                        <joint name="right_wrist_pitch_joint" class="wrist_pitch" />
+                        <geom class="visual" mesh="right_wrist_pitch_link" />
+                        <!-- <geom name="right_wrist_collision" class="collision" size="0.035"
+                          fromto="-0.01 0 0 0.06 0 0" /> -->
+                        <body name="right_wrist_yaw_link" pos="0.046 0 0">
+                          <inertial pos="0.0708244 -0.000191745 0.00161742"
+                            quat="0.493188 0.468078 0.526295 0.510571"
+                            mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
+                          <joint name="right_wrist_yaw_joint" class="wrist_yaw" />
+                          <geom class="visual" mesh="right_wrist_yaw_link" />
+                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" class="visual"
+                            mesh="right_rubber_hand" />
+                          <site name="right_palm" pos="0.08 0 0" size="0.01" />
+                          <!-- <geom name="right_hand_collision" class="collision" size="0.035"
+                            rgba=".2 .6 .2 .2"
+                            fromto="0.07 0 0 0.15 0.02 0" /> -->
+                          <geom name="rh" class="hand_collision" />
+                          <site name="trace_right_hand" size="0.01" pos="0.08 0 0" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <position class="hip_pitch" name="left_hip_pitch_joint" joint="left_hip_pitch_joint" />
+    <position class="hip_roll" name="left_hip_roll_joint" joint="left_hip_roll_joint" />
+    <position class="hip_yaw" name="left_hip_yaw_joint" joint="left_hip_yaw_joint" />
+    <position class="knee" name="left_knee_joint" joint="left_knee_joint" />
+    <position class="ankle_pitch" name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint" />
+    <position class="ankle_roll" name="left_ankle_roll_joint" joint="left_ankle_roll_joint" />
+
+    <position class="hip_pitch" name="right_hip_pitch_joint" joint="right_hip_pitch_joint" />
+    <position class="hip_roll" name="right_hip_roll_joint" joint="right_hip_roll_joint" />
+    <position class="hip_yaw" name="right_hip_yaw_joint" joint="right_hip_yaw_joint" />
+    <position class="knee" name="right_knee_joint" joint="right_knee_joint" />
+    <position class="ankle_pitch" name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" />
+    <position class="ankle_roll" name="right_ankle_roll_joint" joint="right_ankle_roll_joint" />
+
+    <position class="waist_yaw" name="waist_yaw_joint" joint="waist_yaw_joint" />
+    <position class="waist_roll" name="waist_roll_joint" joint="waist_roll_joint" />
+    <position class="waist_pitch" name="waist_pitch_joint" joint="waist_pitch_joint" />
+
+    <position class="shoulder_pitch" name="left_shoulder_pitch_joint"
+      joint="left_shoulder_pitch_joint" />
+    <position class="shoulder_roll" name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" />
+    <position class="shoulder_yaw" name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" />
+    <position class="elbow" name="left_elbow_joint" joint="left_elbow_joint" />
+    <position class="wrist_roll" name="left_wrist_roll_joint" joint="left_wrist_roll_joint" />
+    <position class="wrist_pitch" name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint" />
+    <position class="wrist_yaw" name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint" />
+
+    <position class="shoulder_pitch" name="right_shoulder_pitch_joint"
+      joint="right_shoulder_pitch_joint" />
+    <position class="shoulder_roll" name="right_shoulder_roll_joint"
+      joint="right_shoulder_roll_joint" />
+    <position class="shoulder_yaw" name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" />
+    <position class="elbow" name="right_elbow_joint" joint="right_elbow_joint" />
+    <position class="wrist_roll" name="right_wrist_roll_joint" joint="right_wrist_roll_joint" />
+    <position class="wrist_pitch" name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint" />
+    <position class="wrist_yaw" name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint" />
+  </actuator>
+
+  <!-- <sensor>
+    <velocimeter site="imu_in_torso" name="local_linvel_torso" />
+    <velocimeter site="imu_in_pelvis" name="local_linvel_pelvis" />
+    <accelerometer site="imu_in_torso" name="accelerometer_torso" />
+    <accelerometer site="imu_in_pelvis" name="accelerometer_pelvis" />
+    <gyro site="imu_in_torso" name="gyro_torso" />
+    <gyro site="imu_in_pelvis" name="gyro_pelvis" />
+    <framezaxis objtype="site" objname="imu_in_torso" name="upvector_torso" />
+    <framezaxis objtype="site" objname="imu_in_pelvis" name="upvector_pelvis" />
+    <framequat objtype="site" objname="imu_in_torso" name="orientation_torso" />
+    <framequat objtype="site" objname="imu_in_pelvis" name="orientation_pelvis" />
+    <framelinvel objtype="site" objname="imu_in_torso" name="global_linvel_torso" />
+    <framelinvel objtype="site" objname="imu_in_pelvis" name="global_linvel_pelvis" />
+    <frameangvel objtype="site" objname="imu_in_torso" name="global_angvel_torso" />
+    <frameangvel objtype="site" objname="imu_in_pelvis" name="global_angvel_pelvis" />
+  </sensor> -->
+
+  <contact>
+    <pair name="left_foot_floor0" geom1="lf0" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor1" geom1="lf1" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor2" geom1="lf2" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_foot_floor3" geom1="lf3" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor0" geom1="rf0" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor1" geom1="rf1" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor2" geom1="rf2" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_foot_floor3" geom1="rf3" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="left_hand_floor" geom1="lh" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="right_hand_floor" geom1="rh" geom2="floor" solref="0.008 1"
+      friction="1 1" condim="3" />
+
+    <!-- add collision between foot and box -->
+    <!-- <pair name="lf0_box0" geom1="lf0" geom2="box0" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf1_box0" geom1="lf1" geom2="box0" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf2_box0" geom1="lf2" geom2="box0" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf3_box0" geom1="lf3" geom2="box0" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf0_box0" geom1="rf0" geom2="box0" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf1_box0" geom1="rf1" geom2="box0" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf2_box0" geom1="rf2" geom2="box0" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf3_box0" geom1="rf3" geom2="box0" solref="0.008 1"
+      friction="1 1" condim="3" /> -->
+
+    <pair name="lf0_box1" geom1="lf0" geom2="box1" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf1_box1" geom1="lf1" geom2="box1" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf2_box1" geom1="lf2" geom2="box1" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf3_box1" geom1="lf3" geom2="box1" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf0_box1" geom1="rf0" geom2="box1" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf1_box1" geom1="rf1" geom2="box1" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf2_box1" geom1="rf2" geom2="box1" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf3_box1" geom1="rf3" geom2="box1" solref="0.008 1"
+      friction="1 1" condim="3" />
+
+    <!-- <pair name="lf0_box2" geom1="lf0" geom2="box2" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf1_box2" geom1="lf1" geom2="box2" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf2_box2" geom1="lf2" geom2="box2" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf3_box2" geom1="lf3" geom2="box2" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf0_box2" geom1="rf0" geom2="box2" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf1_box2" geom1="rf1" geom2="box2" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf2_box2" geom1="rf2" geom2="box2" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf3_box2" geom1="rf3" geom2="box2" solref="0.008 1"
+      friction="1 1" condim="3" /> -->
+
+    <pair name="lf0_box3" geom1="lf0" geom2="box3" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf1_box3" geom1="lf1" geom2="box3" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf2_box3" geom1="lf2" geom2="box3" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf3_box3" geom1="lf3" geom2="box3" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf0_box3" geom1="rf0" geom2="box3" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf1_box3" geom1="rf1" geom2="box3" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf2_box3" geom1="rf2" geom2="box3" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf3_box3" geom1="rf3" geom2="box3" solref="0.008 1"
+      friction="1 1" condim="3" />
+
+    <!-- <pair name="lf0_box4" geom1="lf0" geom2="box4" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf1_box4" geom1="lf1" geom2="box4" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf2_box4" geom1="lf2" geom2="box4" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="lf3_box4" geom1="lf3" geom2="box4" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf0_box4" geom1="rf0" geom2="box4" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf1_box4" geom1="rf1" geom2="box4" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf2_box4" geom1="rf2" geom2="box4" solref="0.008 1"
+      friction="1 1" condim="3" />
+    <pair name="rf3_box4" geom1="rf3" geom2="box4" solref="0.008 1"
+      friction="1 1" condim="3" /> -->
+  </contact>
+
+  <keyframe>
+    <key name="0"
+      qpos="-1.80725026 -1.29974377  0.75915504  0.99504608  0.01833034  0.06098209
+  0.07634462 -0.4303121   0.32447723  0.4420687   0.50425285 -0.54711205
+ -0.00768063  0.0766391  -0.27889439 -0.23973405  0.19600944 -0.57358289
+  0.20857893  0.11442623 -0.0214551   0.22673425  0.07056087  0.40921709
+ -0.34313068  0.72707731 -0.18060325 -0.04810983 -0.10574004 -0.14595979
+ -0.54579556  0.62368762  0.71289283 -0.02742729 -0.01143918  0.37756011"
+    />
+    <key name="1"
+      qpos="1.84675038  1.27666962  0.73932868  0.9641155   0.10232545  0.00536267
+  0.24491264  0.0825569  -0.0168406   0.20082748  1.20959127 -0.84657723
+  0.24382654 -0.62941849 -0.10099412 -0.06178565  0.7049731  -0.08167538
+  0.17828581 -0.25666562  0.17523277 -0.11962487 -0.10756259  0.44155285
+ -0.15541582  0.56386185 -0.22089808 -0.32738397 -0.11447582 -0.014583
+ -0.60692859 -0.02739919  0.29634833  0.2983312  -0.09138586 -0.13158542" />
+  </keyframe>
+</mujoco>

processed/amass/unitree_g1/humanoid/sprint_terrain/task_info.json

@@ -0,0 +1,3 @@
+{
+  "ref_dt": 0.03345959595959596
+}

processed/fair_mon/allegro/right/cat/0/trajectory_ikrollout.npz

@@ -1,3 +1,3 @@
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-oid sha256:7442f4bb897319e14ce5f296abfdab9b261da2393a55ec3ee7f7d69c46ca0321
-size 279
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+size 3974

processed/fair_mon/allegro/right/cat/0/trajectory_kinematic.npz

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-size 281
+oid sha256:d11f43157460a8f75aa5627e4d58923465b89109f4d396338dc5d24935c6026e
+size 17388

processed/fair_mon/allegro/right/cat/0/trajectory_mjwp.npz

@@ -1,3 +1,3 @@
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-oid sha256:e17596e67e746b0a566ead5459a2faef4ed95d7e57e773f5a1d1d2c7ce15734b
-size 66194
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+size 71974

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

@@ -1,3 +1,3 @@
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-size 109122
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+size 135863

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

@@ -142,7 +142,6 @@
     <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"/>
@@ -151,16 +150,6 @@
     <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>
 
@@ -282,16 +271,6 @@
     </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"/>
-      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <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"/>
       <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
@@ -300,13 +279,12 @@
       <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"/>
->>>>>>> 62480b5 (:zap: add dexmachina set)
       <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="-0.0198564 -0.00972181 0.0182954" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_index_tip" pos="-0.0173119 0.0155818 0.0197544" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="-0.00125278 0.029595 0.0323832" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00125278 0.029595 0.0379334" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_ring_tip" pos="0.0160556 0.00668297 0.0416153" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_right_thumb_tip" mocap="true">

processed/fair_mon/allegro/right/cat/scene_eq.xml

@@ -142,7 +142,6 @@
     <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"/>
@@ -151,16 +150,6 @@
     <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>
 
@@ -282,16 +271,6 @@
     </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"/>
-      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <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"/>
       <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
@@ -300,13 +279,12 @@
       <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"/>
->>>>>>> 62480b5 (:zap: add dexmachina set)
       <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="-0.0198564 -0.00972181 0.0182954" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_index_tip" pos="-0.0173119 0.0155818 0.0197544" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="-0.00125278 0.029595 0.0323832" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00125278 0.029595 0.0379334" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_ring_tip" pos="0.0160556 0.00668297 0.0416153" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_right_thumb_tip" mocap="true">

processed/fair_mon/allegro/right/cat/task_info.json

@@ -2,15 +2,9 @@
   "task": "cat",
   "dataset_name": "fair_mon",
   "robot_type": "allegro",
-  "hand_type": "right",
+  "embodiment_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)
+  "right_object_convex_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat/convex"
 }

processed/fair_mon/allegro/right/coke/0/trajectory_ikrollout.npz

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 size 3974

processed/fair_mon/allegro/right/coke/0/trajectory_kinematic.npz

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 size 17388

processed/fair_mon/allegro/right/coke/0/trajectory_mjwp.npz

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+size 79454

processed/fair_mon/allegro/right/coke/0/visualization_mjwp.mp4

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+size 71042

processed/fair_mon/allegro/right/coke/scene.xml

@@ -1,268 +1,291 @@
 <mujoco model="allegro_right">
-  <compiler angle="radian" meshdir="../../../assets/"/>
+  <compiler angle="radian" meshdir="../../../assets/" />
 
   <option timestep="0.01" iterations="10">
-    <flag eulerdamp="disable"/>
+    <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"/>
+    <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"/>
+      <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"/>
+      <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"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black" />
         <default class="right_palm_visual">
-          <geom mesh="right_base_link"/>
+          <geom mesh="right_base_link" />
         </default>
         <default class="right_base_visual">
-          <geom mesh="right_link_0.0"/>
+          <geom mesh="right_link_0.0" />
         </default>
         <default class="right_proximal_visual">
-          <geom mesh="right_link_1.0"/>
+          <geom mesh="right_link_1.0" />
         </default>
         <default class="right_medial_visual">
-          <geom mesh="right_link_2.0"/>
+          <geom mesh="right_link_2.0" />
         </default>
         <default class="right_distal_visual">
-          <geom mesh="right_link_3.0"/>
+          <geom mesh="right_link_3.0" />
         </default>
         <default class="right_fingertip_visual">
-          <geom material="right_white" mesh="right_link_3.0_tip"/>
+          <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"/>
+          <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"/>
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3" />
         <default class="right_palm_collision">
-          <geom size="0.0204 0.0565 0.0475"/>
+          <geom size="0.0204 0.0565 0.0475" />
         </default>
         <default class="right_base_collision">
-          <geom size="0.0098 0.01375 0.0082"/>
+          <geom size="0.0098 0.01375 0.0082" />
           <default class="right_thumb_base_collision">
-            <geom size="0.0179 0.017 0.02275"/>
+            <geom size="0.0179 0.017 0.02275" />
           </default>
         </default>
         <default class="right_proximal_collision">
-          <geom size="0.0098 0.01375 0.027"/>
+          <geom size="0.0098 0.01375 0.027" />
           <default class="right_thumb_proximal_collision">
-            <geom size="0.0098 0.01375 0.00885"/>
+            <geom size="0.0098 0.01375 0.00885" />
           </default>
         </default>
         <default class="right_medial_collision">
-          <geom size="0.0098 0.01375 0.0192"/>
+          <geom size="0.0098 0.01375 0.0192" />
           <default class="right_thumb_medial_collision">
-            <geom size="0.0098 0.01375 0.0257"/>
+            <geom size="0.0098 0.01375 0.0257" />
           </default>
         </default>
         <default class="right_distal_collision">
-          <geom size="0.0098 0.01375 0.008"/>
+          <geom size="0.0098 0.01375 0.008" />
           <default class="right_thumb_distal_collision">
-            <geom size="0.0098 0.01375 0.0157"/>
+            <geom size="0.0098 0.01375 0.0157" />
           </default>
         </default>
         <default class="right_fingertip_collision">
-          <geom size="0.012 0.01 0" type="capsule"/>
+          <geom size="0.012 0.01 0" type="capsule" />
           <default class="right_thumbtip_collision">
-            <geom size="0.012 0.008 0"/>
+            <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+    <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="1 1 1" rgb2="1 1 1" markrgb="1 1 1" width="300" height="300" />
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="1 1 1"
+      rgb2="1 1 1" 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/convex/0.obj" />
+    <mesh name="right_1" file="objects/convex/1.obj" />
+    <mesh name="right_2" file="objects/convex/2.obj" />
+    <mesh name="right_3" file="objects/convex/3.obj" />
+    <mesh name="right_4" file="objects/convex/4.obj" />
+    <mesh name="right_5" file="objects/convex/5.obj" />
+    <mesh name="right_6" file="objects/convex/6.obj" />
+    <mesh name="right_7" file="objects/convex/7.obj" />
+    <mesh name="right_visual" file="objects/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"/>
+    <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"/>
+      <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"/>
+        <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"/>
+          <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"/>
+            <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"/>
+              <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"/>
+                <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"/>
+        <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"/>
+          <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"/>
+            <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"/>
+              <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"/>
+                <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"/>
+        <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"/>
+          <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"/>
+            <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"/>
+              <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"/>
+                <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_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"/>
+          <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"/>
+            <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"/>
+              <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"/>
+                <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>
@@ -270,196 +293,324 @@
       </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"/>
+      <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 0.0226112" 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 0.0153952" 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"/>
+      <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"/>
+      <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"/>
+      <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"/>
+      <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"/>
+      <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"/>
+      <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"/>
+      <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"/>
+      <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"/>
+    <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>
 
   <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"/>
+    <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

@@ -142,15 +142,15 @@
     <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"/>
+    <mesh name="right_0" file="objects/convex/0.obj"/>
+    <mesh name="right_1" file="objects/convex/1.obj"/>
+    <mesh name="right_2" file="objects/convex/2.obj"/>
+    <mesh name="right_3" file="objects/convex/3.obj"/>
+    <mesh name="right_4" file="objects/convex/4.obj"/>
+    <mesh name="right_5" file="objects/convex/5.obj"/>
+    <mesh name="right_6" file="objects/convex/6.obj"/>
+    <mesh name="right_7" file="objects/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/visual.obj"/>
   </asset>
 
   <worldbody>
@@ -282,9 +282,9 @@
       <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_thumb_tip" pos="-0.0244631 -0.00102834 0.0226112" 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_middle_tip" pos="0.0368511 -0.00150362 0.0153952" 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">

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

@@ -2,9 +2,9 @@
   "task": "coke",
   "dataset_name": "fair_mon",
   "robot_type": "allegro",
-  "hand_type": "right",
+  "embodiment_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
+  "right_object_mesh_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/",
+  "left_object_mesh_dir": null,
+  "right_object_convex_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects//convex"
 }

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

@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v 0.07307084 0.00537934 -0.04729347
-v 0.06956606 0.00616156 -0.03924121
-v 0.06703721 0.00615464 -0.02780302
-v 0.07161051 -0.00532947 -0.03222750
-v 0.06823396 -0.00860372 -0.04386486
-v 0.06720105 -0.00380656 -0.05652654
-v 0.06906741 0.00541395 -0.05538841
-v 0.05852459 0.00616156 -0.03924121
-v 0.04639322 0.00615464 -0.00128462
-v 0.02208775 -0.00406269 0.07043171
-v 0.03149080 -0.00786996 0.05553644
-v 0.03072146 -0.02002553 0.05264845
-v 0.02406809 -0.02825615 0.05644695
-v 0.00031824 -0.06134477 0.05266267
-v 0.00031112 -0.06454980 0.03684268
-v 0.04334435 -0.02905222 -0.04820398
-v 0.03830089 -0.02945371 -0.05703870
-v 0.03951190 -0.01853723 -0.06624332
-v 0.04882947 -0.00947593 -0.06336954
-v 0.05163614 0.00220200 -0.05901620
-v 0.01316909 -0.00406269 0.06417200
-v 0.01479325 -0.00406269 0.07808562
-v 0.00031824 -0.03060973 0.06270666
-v 0.00031112 -0.04977068 0.03331449
-v 0.00031112 -0.05582077 0.01042387
-v 0.02834220 -0.03641063 -0.05106352
-v 0.03651289 -0.03399474 -0.04488918
-v 0.02834933 -0.02853304 -0.06627177
-v 0.02834220 -0.01949251 -0.06725341
-v 0.00031112 -0.03652831 -0.00128462
-v 0.00031112 -0.05014449 0.00092050
-v 0.01717963 -0.03838349 -0.03924121
+v -0.01314510 -0.06718677 0.03170103
+v -0.02067132 -0.05957778 0.03059217
+v -0.02417319 -0.05320400 0.01683001
+v -0.02253394 -0.05110686 0.00838420
+v -0.01553020 -0.05531762 0.00801458
+v -0.00557899 -0.05508155 0.00470649
+v 0.00001682 -0.05603679 0.01059576
+v -0.00172613 -0.06443633 0.03147310
+v -0.02500678 -0.05538898 0.04762547
+v -0.03177919 -0.04085174 0.01676840
+v -0.03414833 -0.02675368 -0.00129983
+v -0.02114595 -0.04599577 0.00112118
+v -0.01379123 -0.05105745 0.00152776
+v -0.00517216 -0.04881209 -0.00129983
+v 0.00030000 -0.04796116 -0.00129983
+v 0.00030000 -0.05233660 0.00312945
+v 0.00030399 -0.05023397 0.03170103
+v -0.02500678 -0.02093988 0.06163405
+v -0.02500678 -0.03465913 0.05876950
+v -0.02500678 -0.04718708 0.05432790
+v -0.03000432 -0.04205402 0.04748994
+v -0.03922165 -0.01110747 -0.00129983
+v -0.04044212 -0.01110747 0.02249751
+v -0.02115792 -0.04034117 -0.00129983
+v 0.00030000 -0.03655315 -0.00129983
+v 0.00030399 -0.04537541 0.01200647
+v 0.00030399 -0.04762627 0.02369877
+v -0.03961253 -0.01110747 0.03156550
+v -0.02856449 -0.01989680 0.05774689
+v -0.02624320 -0.02684152 0.06015557
+v -0.02086676 -0.01110747 -0.00101029
+v -0.02734801 -0.03943534 0.05426014
 f 1 2 3
 f 1 3 4
 f 1 4 5
 f 1 5 6
 f 1 6 7
-f 1 7 2
-f 2 7 8
-f 2 8 9
+f 1 7 8
+f 1 8 9
+f 1 9 2
 f 2 9 3
 f 3 9 10
-f 3 10 11
-f 3 11 4
+f 3 10 4
+f 4 10 11
 f 4 11 12
-f 4 12 13
-f 4 13 14
-f 4 14 15
-f 4 15 5
-f 5 16 6
-f 5 15 16
-f 6 16 17
-f 6 17 18
-f 6 18 19
-f 6 19 7
-f 7 19 20
-f 7 20 8
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
 f 8 20 9
-f 9 21 22
-f 9 22 10
 f 9 20 21
-f 10 22 13
-f 10 13 12
-f 10 12 11
-f 13 22 14
-f 14 22 23
-f 14 23 15
-f 15 23 24
-f 15 24 30
-f 15 30 31
-f 15 31 25
+f 9 21 10
+f 10 22 11
+f 10 21 23
+f 10 23 22
+f 11 24 12
+f 11 22 25
+f 11 25 15
+f 11 15 14
+f 11 14 24
+f 12 24 13
+f 13 24 14
 f 15 25 26
-f 15 26 27
-f 15 27 16
-f 16 27 17
-f 17 28 18
-f 17 27 26
-f 17 26 28
+f 15 26 16
+f 16 26 17
+f 17 26 27
+f 17 27 25
+f 17 25 18
 f 18 28 29
-f 18 29 19
-f 19 29 20
-f 20 29 21
-f 21 23 22
-f 21 29 30
-f 21 30 23
-f 23 30 24
-f 25 31 32
-f 25 32 26
-f 26 32 28
-f 28 32 31
-f 28 31 30
-f 28 30 29
+f 18 29 30
+f 18 30 19
+f 18 25 31
+f 18 31 28
+f 19 30 20
+f 20 32 21
+f 20 30 32
+f 21 32 29
+f 21 29 28
+f 21 28 23
+f 22 31 25
+f 22 23 28
+f 22 28 31
+f 25 27 26
+f 29 32 30
 

processed/fair_mon/assets/objects/cat/convex/1.obj

@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v -0.00841114 -0.03676933 -0.07395325
-v 0.02833044 -0.01950025 -0.06726182
-v 0.02024927 -0.02633467 -0.06985732
-v 0.00115060 -0.03822354 -0.07327060
-v -0.00533418 -0.04318731 -0.06938800
-v -0.01798115 -0.04038637 -0.06842802
-v -0.01559072 -0.03457292 -0.07317815
-v -0.02524345 -0.01733742 -0.06682094
-v 0.02833044 -0.02924643 -0.05418473
-v 0.02833044 -0.02863184 -0.06620229
-v -0.02994988 -0.00888759 -0.06356411
-v 0.01716404 -0.01422750 -0.06485831
-v -0.00533418 -0.00888423 -0.03365535
-v -0.01736080 -0.00888759 -0.00315636
-v 0.00177096 -0.02937070 -0.00540343
-v 0.01005890 -0.03676597 -0.07150707
-v 0.00933929 -0.04171295 -0.06411877
-v 0.01656850 -0.03961729 -0.04917149
-v -0.01646749 -0.02937070 -0.00131462
-v -0.03245611 -0.02805083 -0.00131462
-v -0.02558258 -0.03821010 -0.06075528
-v -0.03110787 -0.03439492 -0.05936864
-v -0.02661650 -0.02771499 -0.06838535
-v 0.02662653 -0.03615474 -0.05418473
-v -0.05391214 -0.00946188 -0.05155367
-v -0.05265488 -0.00888423 -0.03293713
-v -0.01063615 -0.00888423 -0.05031636
-v -0.01890755 -0.00888759 -0.06246902
-v -0.00021418 -0.00888423 -0.04683198
-v -0.04869288 -0.01075488 -0.00131462
-v -0.05617023 -0.01142657 -0.04207474
-v -0.05049605 -0.01745496 -0.04860261
+v -0.06046724 0.00335733 -0.04679583
+v -0.05528533 0.04225211 -0.01483349
+v -0.05154443 0.05569564 -0.02624954
+v -0.05395883 0.00082007 -0.05448616
+v -0.05594380 -0.00884707 -0.04765462
+v -0.04868149 -0.00886674 -0.00130600
+v -0.05128676 0.05378778 -0.01049437
+v -0.04497876 0.06730014 -0.01668021
+v -0.04230669 0.06718213 -0.02854178
+v -0.04573267 0.00301313 -0.05822479
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processed/fair_mon/assets/objects/cat/convex/2.obj

@@ -1,94 +1,94 @@
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processed/fair_mon/assets/objects/cat/convex/3.obj

@@ -1,36 +1,36 @@
 # https://github.com/mikedh/trimesh
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processed/fair_mon/assets/objects/cat/convex/4.obj

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

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

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

@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
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processed/fair_mon/assets/objects/convex/0.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+

processed/fair_mon/assets/objects/convex/1.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+

processed/fair_mon/assets/objects/convex/2.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+

processed/fair_mon/assets/objects/convex/3.obj

@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.03096087 0.00899816 -0.02174936
+v 0.03077564 0.00899816 -0.04690711
+v 0.03034565 0.01091277 -0.04648540
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+

processed/fair_mon/assets/objects/convex/4.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+v -0.02301028 0.01288136 0.05580654
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+

processed/fair_mon/assets/objects/convex/5.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.03285633 -0.00166153 -0.01311724
+v 0.03118378 -0.01048321 -0.04078213
+v 0.03152472 0.00529796 -0.04646167
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+

processed/fair_mon/assets/objects/convex/6.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01780464 0.00411221 -0.04728114
+v -0.01780464 0.00411221 -0.04645262
+v -0.01780464 0.00473218 -0.04728114
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+f 4 7 8
+f 4 8 6
+

processed/fair_mon/assets/objects/convex/7.obj

@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.03102653 0.00899816 0.00601176
+v 0.03071445 0.01006029 0.00772652
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+

processed/fair_mon/mano/right/cat/0/trajectory_keypoints.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7559fdec72abf1bc0e98373da0582460db6f0ea329056fb2c2daffed229e0380
-size 270
+oid sha256:9dd7310a64787af7922638b9671a0224d787cefa0d95caf4f28aed70f62233bb
+size 22000

processed/fair_mon/mano/right/cat/task_info.json

@@ -2,13 +2,9 @@
   "task": "cat",
   "dataset_name": "fair_mon",
   "robot_type": "mano",
-  "hand_type": "right",
+  "embodiment_type": "right",
   "data_id": 0,
-<<<<<<< HEAD
-  "right_object_mesh_dir": "/Users/pcy/Downloads/tmpcode/retarget/example_datasets/processed/fair_mon/assets/objects/cat",
-=======
   "right_object_mesh_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat",
->>>>>>> 62480b5 (:zap: add dexmachina set)
   "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_convex_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat/convex"
 }