feat: Add initial dataset with correct LFS tracking

.gitattributes

@@ -57,3 +57,6 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+*.STL filter=lfs diff=lfs merge=lfs -text
+*.ply filter=lfs diff=lfs merge=lfs -text
+*.stl filter=lfs diff=lfs merge=lfs -text

processed/fair_fre/assets/objects/cup/convex/0.obj

@@ -0,0 +1,94 @@
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processed/fair_fre/assets/objects/cup/convex/1.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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processed/fair_fre/assets/objects/cup/convex/2.obj

@@ -0,0 +1,94 @@
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processed/fair_fre/assets/objects/cup/convex/3.obj

@@ -0,0 +1,94 @@
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processed/fair_fre/assets/objects/cup/convex/4.obj

@@ -0,0 +1,94 @@
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processed/fair_fre/assets/objects/cup/convex/5.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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processed/fair_fre/assets/objects/cup/convex/6.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+f 20 30 21
+f 21 30 24
+f 22 24 29
+f 22 29 32
+f 22 32 25
+f 22 25 23
+f 24 30 29
+f 25 32 26
+f 26 32 27
+f 27 32 28
+f 28 32 29
+

processed/fair_fre/assets/objects/cup/convex/7.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00001928 -0.03712433 -0.02358604
+v 0.01398150 -0.03262092 -0.02358604
+v 0.01290381 -0.04922201 -0.02199960
+v -0.00945359 -0.04922693 -0.02220213
+v -0.02351372 -0.04756010 -0.02120976
+v -0.02979717 -0.04059253 -0.02041992
+v 0.01398150 -0.03575280 0.01089702
+v -0.03212607 -0.03875835 -0.01318644
+v -0.03266948 -0.03647466 -0.00043419
+v -0.01891073 -0.03535906 0.00922282
+v 0.01248826 -0.04924497 -0.00218940
+v 0.00609978 -0.04933521 -0.02194560
+v -0.00132985 -0.04937458 -0.02176670
+v -0.00764527 -0.04928927 -0.00105526
+v -0.01517536 -0.04913506 -0.01341259
+v -0.01662750 -0.04885616 -0.02128065
+v -0.02836787 -0.04647731 -0.01009795
+v -0.02218488 -0.04849195 -0.01384802
+v -0.00001928 -0.03947529 0.01089702
+v 0.01169826 -0.04910881 0.01046834
+v -0.03078353 -0.04394588 -0.00187886
+v -0.03262838 -0.03808899 -0.00696558
+v -0.03097989 -0.04040878 0.00704569
+v -0.02343153 -0.04781110 0.00746424
+v 0.01109092 -0.04921545 0.00401121
+v 0.00418187 -0.04933357 -0.00084261
+v 0.00115430 -0.04938115 -0.00624662
+v -0.00429805 -0.04926139 0.00608708
+v -0.01391045 -0.04908420 0.00554701
+v -0.01611605 -0.04910224 -0.00349568
+v -0.02212552 -0.04859038 -0.00346192
+v 0.00330511 -0.04923349 0.00900342
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 11 12
+f 3 12 4
+f 3 7 11
+f 4 12 13
+f 4 13 14
+f 4 14 15
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+f 4 16 5
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+f 5 18 17
+f 6 17 8
+f 7 19 20
+f 7 20 11
+f 7 10 19
+f 8 17 21
+f 8 21 22
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+f 11 27 12
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+f 13 27 14
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+f 17 24 21
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+f 21 24 23
+f 24 31 29
+f 24 29 32
+f 25 32 26
+f 26 32 28
+f 26 28 27
+f 28 32 29
+f 29 31 30
+

processed/fair_fre/assets/objects/cup/visual.obj.mtl

@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.752941 0.752941 0.752941
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+

processed/fair_fre/assets/objects/spoon/convex/0.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00152123 -0.02244118 0.16416166
+v 0.00692607 -0.01388051 0.17220476
+v -0.00969566 -0.01586625 0.17361230
+v -0.00273752 -0.02228580 0.10106354
+v 0.00064430 -0.02236160 0.10375798
+v 0.00228151 -0.02190685 0.10124451
+v 0.00951251 -0.01670754 0.07430012
+v -0.00144285 0.00147109 0.17938321
+v 0.01328042 -0.00538427 0.14906074
+v 0.01164901 -0.00005233 0.16747944
+v -0.01193376 0.00188415 0.17101841
+v -0.01511238 -0.00489920 0.05710799
+v -0.01012818 -0.01582078 0.07146492
+v 0.00265598 -0.02153168 0.08692779
+v -0.00838357 -0.00218586 -0.02601745
+v 0.00668804 -0.00354253 -0.02593702
+v 0.01453735 -0.00541080 0.05793241
+v 0.00323364 0.01200991 0.17148088
+v 0.01411063 0.00150519 0.09501110
+v 0.01324848 0.00107697 0.14160076
+v -0.01067102 0.01204023 0.08608326
+v -0.01027042 0.01106631 0.04926597
+v -0.00151542 0.00881530 -0.02038728
+v 0.00742246 0.00920183 -0.01061491
+v 0.00991311 0.00815970 0.00685872
+v 0.01216862 0.00875087 0.05079416
+v 0.01327461 0.00484002 0.06704122
+v 0.00073719 0.01627319 0.06513098
+v -0.00060393 0.01504916 0.02871585
+v 0.00132357 0.01265793 0.00436536
+v 0.00958218 0.01092609 0.02051189
+v 0.01050819 0.00937994 0.02220094
+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 8 3
+f 2 7 9
+f 2 9 10
+f 2 10 8
+f 3 8 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 14 5
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+f 6 14 7
+f 7 14 16
+f 7 16 17
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+f 8 10 18
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+f 24 31 25
+f 25 31 32
+f 25 32 26
+f 26 32 31
+f 26 31 28
+f 28 31 29
+f 29 31 30
+

processed/fair_fre/assets/objects/spoon/convex/1.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.02754174 -0.01742126 -0.06525580
+v -0.02343715 -0.02009873 -0.06466815
+v -0.02062705 -0.01564293 -0.05322235
+v -0.00949450 -0.00534978 -0.02601746
+v -0.01090764 0.00041907 -0.02601746
+v -0.02741229 -0.01173233 -0.06525580
+v -0.01695935 -0.02115202 -0.06525580
+v -0.02008768 -0.01928521 -0.06054689
+v -0.01720746 -0.01551734 -0.05001138
+v -0.00416555 -0.00842973 -0.02601746
+v -0.00896053 0.00462082 -0.02601746
+v -0.02447813 -0.00562666 -0.06525580
+v -0.01024422 -0.02134327 -0.06525580
+v 0.00155175 -0.00874943 -0.02601746
+v -0.00349673 0.00740106 -0.02601746
+v 0.00168659 0.00772361 -0.02601746
+v 0.01831529 -0.00375129 -0.06525580
+v -0.00523350 -0.02142034 -0.06525580
+v -0.00018502 -0.02143747 -0.06525580
+v 0.00655168 -0.02126049 -0.06525580
+v 0.01329917 -0.02096648 -0.06525580
+v 0.01926997 -0.01926523 -0.06101548
+v 0.00622806 -0.00720517 -0.02601746
+v 0.00648157 0.00643340 -0.02601746
+v 0.02400022 -0.00573228 -0.06525580
+v 0.01999272 -0.02047552 -0.06525580
+v 0.02592037 -0.01824048 -0.06525580
+v 0.02002508 -0.01543741 -0.05351810
+v 0.01017084 -0.00258382 -0.02601746
+v 0.00986879 0.00281681 -0.02601746
+v 0.02656761 -0.01003679 -0.06525580
+v 0.02756005 -0.01373330 -0.06525580
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 17
+f 1 17 25
+f 1 25 31
+f 1 31 32
+f 1 32 27
+f 1 27 26
+f 1 26 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
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+f 4 29 30
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+f 23 28 29
+f 24 30 25
+f 25 30 31
+f 27 32 29
+f 27 29 28
+f 29 32 30
+f 30 32 31
+

processed/fair_fre/assets/objects/spoon/convex/2.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.04092755 0.00283577 -0.10964166
+v 0.04020415 0.00358548 -0.11834044
+v 0.03775394 0.00805438 -0.12286046
+v 0.03359442 0.01345727 -0.11077167
+v 0.04030332 0.00170912 -0.10107182
+v 0.03490703 -0.01514036 -0.12725157
+v 0.03418947 0.00603562 -0.13351589
+v 0.03079418 0.01749478 -0.12065354
+v 0.03238098 0.01362480 -0.13294711
+v 0.03070084 0.01517447 -0.11005878
+v 0.03460950 0.00867425 -0.10028309
+v 0.03329106 0.00309126 -0.08732972
+v 0.02907903 -0.01514036 -0.08077720
+v 0.02594626 -0.01514036 -0.13070226
+v 0.00615790 0.00738007 -0.15669999
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+v 0.02883984 0.01167306 -0.14144870
+v 0.02525787 0.02183804 -0.12772935
+v 0.02150671 0.01462999 -0.14875202
+v 0.01971573 0.02472795 -0.13303052
+v -0.01867090 0.02486617 -0.13522228
+v -0.01867090 0.01811465 -0.12973910
+v -0.01867090 -0.01513198 -0.11874239
+v 0.00008488 -0.01514036 -0.13291676
+v 0.01832144 -0.01514036 -0.13193844
+v -0.00017181 0.00921872 -0.15825470
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+v 0.00907481 -0.01514036 -0.13266650
+v 0.01303015 0.01915334 -0.15325689
+v 0.01296598 0.02647028 -0.13851371
+v 0.00004987 0.02764719 -0.14311717
+v -0.00074936 0.02033025 -0.15651040
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 2 7 3
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+f 4 10 11
+f 4 11 5
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+f 5 12 13
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+f 21 26 23
+f 21 23 22
+f 23 26 24
+f 26 32 27
+f 27 32 29
+f 29 32 31
+f 29 31 30
+

processed/fair_fre/assets/objects/spoon/convex/3.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.01498410 0.01811039 -0.12973135
+v -0.03425474 0.00297856 -0.08768693
+v -0.02989333 -0.01514036 -0.08135888
+v 0.01496762 -0.01513201 -0.11873418
+v 0.01498410 0.02486165 -0.13521115
+v -0.03315615 0.01376553 -0.11111500
+v -0.03495234 0.01014759 -0.10413388
+v -0.03657276 0.00487526 -0.09647716
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+v -0.00860814 0.02682519 -0.13599183
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+v -0.03657826 -0.01512365 -0.12642845
+v -0.03000868 -0.01514036 -0.13052704
+v -0.00650983 -0.01514036 -0.13286909
+v -0.00462025 0.01025621 -0.15804620
+v -0.00356011 0.02008647 -0.15653737
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+v -0.03773178 0.00883995 -0.12253252
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+v -0.01332658 0.02660795 -0.14100624
+v -0.02553193 0.01596720 -0.14451933
+v -0.02836080 0.01985670 -0.12628582
+v -0.03885783 0.00645863 -0.12253252
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+v -0.02849263 0.00934128 -0.14322068
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+v -0.02263714 -0.01514036 -0.13177314
+v -0.01734193 0.01174767 -0.15421033
+v -0.01269489 0.01816470 -0.15455564
+v -0.03040967 0.01386162 -0.13814623
+v -0.02063221 0.01636409 -0.15005919
+f 1 2 3
+f 1 3 4
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+f 1 5 2
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+f 26 32 29
+f 26 29 27
+f 29 32 30
+

processed/fair_fre/assets/objects/spoon/convex/4.obj

@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.04036560 -0.00917853 -0.08973838
+v -0.00077785 -0.01475784 -0.10880744
+v 0.03639061 0.00168714 -0.09180127
+v 0.03356340 0.00140751 -0.08495193
+v 0.03783240 -0.01239562 -0.08096251
+v 0.03501728 -0.01625187 -0.08955510
+v -0.00043956 -0.00862459 -0.06526911
+v 0.02534357 0.00168714 -0.09198455
+v 0.02717602 -0.01978853 -0.09102556
+v 0.01707138 -0.02335184 -0.09041180
+v 0.00997518 -0.02471803 -0.09043311
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+v 0.00052701 -0.02443308 -0.07609935
+v 0.02336614 -0.00190279 -0.07024309
+v 0.02866211 -0.01281107 -0.06688022
+v 0.03369228 -0.01145819 -0.07412596
+v 0.03133224 -0.01857946 -0.07208010
+v 0.03059121 -0.02006018 -0.08083892
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+v 0.01666059 -0.02080586 -0.06529895
+v 0.02114304 -0.00475237 -0.06526911
+v 0.02311241 -0.02219603 -0.08701909
+v 0.01664046 -0.02394306 -0.08384376
+v 0.00991075 -0.02496038 -0.08384376
+v 0.00233126 -0.02551964 -0.08513094
+v 0.00654388 -0.02386849 -0.07459053
+v 0.02428840 -0.01967402 -0.06634745
+v 0.02373263 -0.02170867 -0.07297942
+v 0.02319699 -0.02244370 -0.08047662
+v 0.01180360 -0.02208684 -0.06881526
+v 0.01579874 -0.02356489 -0.07711375
+f 1 2 3
+f 1 3 4
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+f 1 5 6
+f 1 6 2
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+f 2 8 3
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+f 2 13 7
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+f 23 29 31
+f 23 31 24
+f 24 31 26
+f 26 31 30
+f 28 31 29
+

processed/fair_fre/assets/objects/spoon/convex/5.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.01816536 -0.02385046 -0.08049002
+v -0.01816536 -0.02323262 -0.07376306
+v -0.02615272 -0.02195135 -0.07694367
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+v -0.00079367 -0.01094646 -0.11714220
+v -0.01816536 -0.00408395 -0.06525965
+v -0.02192554 -0.02139986 -0.06786553
+v -0.03690183 -0.01626231 -0.08719087
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+v -0.00079367 -0.00645162 -0.12286991
+v -0.03117300 0.00083384 -0.08303712
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+v -0.02903525 -0.01272946 -0.06688588
+v -0.03819817 -0.01241433 -0.08099292
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+v -0.04150744 0.00070115 -0.10541246
+v -0.04140277 -0.00086624 -0.11355012
+f 1 2 3
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+f 2 6 7
+f 3 9 10
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+f 9 23 24
+f 9 24 25
+f 9 25 13
+f 11 21 12
+f 12 21 26
+f 12 26 22
+f 13 25 27
+f 13 27 14
+f 14 27 15
+f 15 27 17
+f 16 17 28
+f 16 28 29
+f 16 29 18
+f 17 27 28
+f 18 29 30
+f 18 30 19
+f 19 26 20
+f 19 30 23
+f 19 23 26
+f 20 26 21
+f 22 26 23
+f 23 30 31
+f 23 31 24
+f 24 31 32
+f 24 32 27
+f 24 27 25
+f 27 32 29
+f 27 29 28
+f 29 32 31
+f 29 31 30
+

processed/fair_fre/assets/objects/spoon/convex/6.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00273800 0.01851464 -0.13296908
+v -0.00691914 -0.01051019 -0.12058292
+v -0.01383066 0.01851464 -0.13247114
+v 0.00906887 0.01851464 -0.13266353
+v 0.03485503 0.00156350 -0.12716925
+v 0.00182256 -0.01036711 -0.12094505
+v -0.00785655 -0.01569485 -0.11375327
+v -0.01612210 -0.00859540 -0.12069609
+v -0.03444619 0.01851464 -0.11155783
+v 0.01829416 0.01851464 -0.13193360
+v 0.02693914 -0.01790422 -0.09684042
+v 0.01705172 -0.01711306 -0.10732537
+v 0.01240932 -0.01412094 -0.11448886
+v 0.02594221 0.01851464 -0.13070574
+v 0.04073987 0.00052404 -0.11652021
+v 0.00468686 -0.01861122 -0.10956609
+v -0.00952305 -0.01927614 -0.10745551
+v -0.01645689 -0.01767697 -0.10693495
+v 0.00017094 -0.02179272 -0.10427551
+v -0.03444619 -0.00949178 -0.09375662
+v 0.02566694 0.01825372 -0.07516323
+v 0.03726550 0.01851464 -0.09380754
+v 0.04155824 -0.00222400 -0.10578064
+v 0.03700511 -0.01454598 -0.07589881
+v 0.01914229 -0.02147709 -0.09586153
+v 0.00976821 -0.02232297 -0.10053533
+v -0.00730601 -0.02350550 -0.09767786
+v -0.01395714 -0.02295842 -0.09552768
+v 0.00398753 -0.02447763 -0.09508067
+v -0.00009689 -0.01527402 -0.07516323
+v 0.04120113 -0.00552753 -0.09462234
+v 0.01248372 -0.02377905 -0.09385280
+f 1 2 3
+f 1 3 9
+f 1 9 22
+f 1 22 14
+f 1 14 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 5 10 14
+f 5 14 15
+f 5 15 11
+f 6 16 7
+f 6 13 16
+f 7 17 18
+f 7 18 8
+f 7 16 19
+f 7 19 17
+f 8 18 20
+f 8 20 9
+f 9 20 21
+f 9 21 22
+f 11 15 23
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 12 25 26
+f 12 26 16
+f 12 16 13
+f 14 22 15
+f 15 22 23
+f 16 26 19
+f 17 19 27
+f 17 27 28
+f 17 28 18
+f 18 28 20
+f 19 26 29
+f 19 29 27
+f 20 28 30
+f 20 30 21
+f 21 30 24
+f 21 24 22
+f 22 24 31
+f 22 31 23
+f 23 31 24
+f 24 30 32
+f 24 32 25
+f 25 32 26
+f 26 32 29
+f 27 29 28
+f 28 29 30
+f 29 32 30
+

processed/fair_fre/assets/objects/spoon/convex/7.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00116402 -0.02557149 -0.08389904
+v -0.00116402 -0.02500906 -0.07879655
+v -0.00692341 -0.02498198 -0.07879655
+v -0.00593018 -0.02550692 -0.08377078
+v -0.00116402 -0.02555691 -0.08927756
+v -0.00098588 -0.02388421 -0.07322286
+v -0.00692341 -0.02441539 -0.07543115
+v -0.01196855 -0.02419875 -0.07543115
+v -0.01196855 -0.02470077 -0.07879655
+v -0.01196855 -0.02499448 -0.08384048
+v -0.00651166 -0.02545067 -0.08853867
+v -0.00116402 -0.02509030 -0.09299986
+v -0.00044977 -0.01481042 -0.09374712
+v -0.00044977 -0.00862374 -0.06526521
+v -0.00133208 -0.02194280 -0.06671510
+v -0.00692341 -0.02360508 -0.07206573
+v -0.01196855 -0.02301974 -0.07057682
+v -0.01647589 -0.02311765 -0.07206573
+v -0.01647589 -0.02370299 -0.07543115
+v -0.01761870 -0.02394045 -0.08047508
+v -0.01647589 -0.02392171 -0.08720590
+v -0.01196855 -0.02473410 -0.08888721
+v -0.00860736 -0.02456954 -0.09299986
+v -0.00524114 -0.02493407 -0.09299986
+v -0.01196855 -0.02404461 -0.09299986
+v -0.01761870 -0.00949238 -0.09374712
+v -0.01761870 -0.00429098 -0.06530146
+v -0.01647589 -0.02117832 -0.06527915
+v -0.01193325 -0.02132414 -0.06530146
+v -0.00691501 -0.02188031 -0.06669837
+v -0.01647589 -0.02219694 -0.06854697
+v -0.01637506 -0.02298225 -0.09297198
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 10
+f 5 12 13
+f 5 13 6
+f 5 11 12
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 6 13 14
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 24 13
+f 13 24 23
+f 13 23 25
+f 13 25 26
+f 13 26 14
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 14 26 27
+f 15 29 30
+f 15 30 16
+f 16 30 17
+f 17 30 29
+f 17 29 28
+f 17 28 31
+f 17 31 18
+f 18 31 20
+f 18 20 19
+f 20 26 32
+f 20 32 21
+f 20 31 28
+f 20 28 27
+f 20 27 26
+f 21 32 22
+f 22 32 25
+f 22 25 23
+f 25 32 26
+

processed/fair_fre/assets/objects/spoon/visual.obj.mtl

@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.752941 0.752941 0.752941
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+

processed/fair_fre/assets/robots/metahand/assets/base_link.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4060e1ae52bca21367e15a1dfab16bc7c2e81849566631b7f55e2cf376b7bc85
+size 163884

processed/fair_fre/assets/robots/metahand/assets/base_link_left.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f66c1cb8d27b9f07e49101a7997a49c60d3cc3ccbc8de96065322df68f47a0b
+size 433984

processed/fair_fre/assets/robots/metahand/assets/link_0.0.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32b90a6744d472a6ffaee02cbf32eb8a5600b1da0944e86aeb9f53503a9f8ac9
+size 57584

processed/fair_fre/assets/robots/metahand/assets/link_1.0.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3dfb35b6682f62f18ca6ed0b39cb94ff627b68e0e3373cf7212390574604680
+size 70084

processed/fair_fre/assets/robots/metahand/assets/link_12.0_left.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1749ba567bf36729a81eaecf384bc4f5483be8c496af54d230500b96f1d81dcc
+size 217084

processed/fair_fre/assets/robots/metahand/assets/link_12.0_right.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5418fc127311eefee1d8ee69dfcfde2157d038286900bee91608d2701b00f13
+size 204284

processed/fair_fre/assets/robots/metahand/assets/link_13.0.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e906896afc078a12c9c377e3a2b07f375583d3b869581f9962030cabc888be29
+size 22484

processed/fair_fre/assets/robots/metahand/assets/link_14.0.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9e4983e4bff7fc7d868b4965c9865edb2669b946434095703766202b5de01ff
+size 46884

processed/fair_fre/assets/robots/metahand/assets/link_15.0.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf963adb775b79b27649f4f5dff4ced58ef676ce86cc677de49d3810382d11e0
+size 43284

processed/fair_fre/assets/robots/metahand/assets/link_15.0_tip.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7147c765d4b6d2eb16fa14bba2e8eceec4a750bc346260893ca02aca1fd7a63
+size 71984

processed/fair_fre/assets/robots/metahand/assets/link_2.0.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c98477c65b45f5a3de1df0e1b54281da2385f4eafd057d103ab40893771c2d0
+size 52884

processed/fair_fre/assets/robots/metahand/assets/link_3.0.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe333088176395aa7d8a913aa953d3cd649c4c77753224239b78b2c99e3e314c
+size 18084

processed/fair_fre/assets/robots/metahand/assets/link_3.0_tip.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c3fa04fea0dfa1257c8a1b02d2b7d982b0d985c1ddda1edf148827944835f39
+size 71984

processed/fair_fre/assets/robots/metahand/assets/link_4.0.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80ac4d443169c56507afaa0b3c72ec3679312bc80cbaebd03e73e96dd18c408
+size 22884

processed/fair_fre/assets/robots/metahand/bimanual.xml

@@ -0,0 +1,4 @@
+<mujoco model="bimanual">
+    <include file="right.xml" />
+    <include file="left.xml" />
+</mujoco>

processed/fair_fre/assets/robots/metahand/left.xml

@@ -0,0 +1,312 @@
+<mujoco model="metahand_left">
+  <compiler angle="radian" meshdir="assets" autolimits="true" />
+
+  <option timestep="0.01"
+    iterations="10" ls_iterations="50">
+    <flag eulerdamp="disable" />
+  </option>
+
+  <default>
+    <default class="mimic_left">
+      <site size="0.015" type="sphere" rgba="1 0 0 1" group="3" />
+    </default>
+    <default class="metahand_left">
+      <!-- <joint axis="0 1 0" armature="1.0" damping="0.0" /> -->
+      <joint axis="0 1 0" damping="0.2" armature="0.00149376"
+        actuatorfrcrange="-0.2196 0.2196" frictionloss="0.02" />
+      <!-- <position kp="300" dampratio="1.0" /> -->
+      <position kp="3.0" dampratio="0.0" />
+      <geom density="800" />
+
+      <default class="left_visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="left_black" />
+        <default class="left_palm_visual">
+          <geom mesh="left_base_link" />
+        </default>
+        <default class="left_base_visual">
+          <geom mesh="left_link_0.0" />
+        </default>
+        <default class="left_proximal_visual">
+          <geom mesh="left_link_1.0" />
+        </default>
+        <default class="left_medial_visual">
+          <geom mesh="left_link_2.0" />
+        </default>
+        <default class="left_distal_visual">
+          <geom mesh="left_link_3.0" />
+        </default>
+        <default class="left_fingertip_visual">
+          <geom pos="0 0 0.0515" material="left_white" mesh="left_link_3.0_tip" />
+        </default>
+        <default class="left_thumbtip_visual">
+          <geom pos="0 0 0.0671" material="left_white" mesh="left_link_15.0_tip" />
+        </default>
+      </default>
+
+      <default class="left_collision">
+        <!-- disable all collisions, use explicit collision pairs -->
+        <geom group="3" type="box" mass="0" condim="1" contype="0" conaffinity="0" />
+        <default class="left_palm_collision">
+          <geom size="0.0204 0.0565 0.0475" pos="-0.0093 0 -0.0475" />
+        </default>
+        <default class="left_base_collision">
+          <geom size="0.0098 0.01375 0.0082" pos="0 0 0.0082" />
+          <default class="left_thumb_base_collision">
+            <geom size="0.0179 0.017 0.02275" pos="-0.0179 0.009 0.0145" />
+          </default>
+        </default>
+        <default class="left_proximal_collision">
+          <geom size="0.0098 0.01375 0.027" pos="0 0 0.027" />
+          <default class="left_thumb_proximal_collision">
+            <geom size="0.0098 0.01375 0.00885" pos="0 0 0.00885" />
+          </default>
+        </default>
+        <default class="left_medial_collision">
+          <geom size="0.0098 0.01375 0.0192" pos="0 0 0.0192" />
+          <default class="left_thumb_medial_collision">
+            <geom size="0.0098 0.01375 0.0257" pos="0 0 0.0257" />
+          </default>
+        </default>
+        <default class="left_distal_collision">
+          <geom size="0.0098 0.01375 0.008" pos="0 0 0.008" />
+          <default class="left_thumb_distal_collision">
+            <geom size="0.0098 0.01375 0.0157" pos="0 0 0.0157" />
+          </default>
+        </default>
+        <default class="left_fingertip_collision">
+          <!-- <geom type="sphere" size="0.01235" pos="0 0 0.0515" /> -->
+          <geom type="capsule" size="0.01235" fromto="0 0 0 0 0 0.0515" />
+          <default class="left_thumbtip_collision">
+            <!-- <geom type="sphere" size="0.01235" pos="0 0 0.0671" /> -->
+            <geom type="capsule" size="0.01235" fromto="0 0 0 0 0 0.0671" />
+          </default>
+        </default>
+      </default>
+
+      <default class="left_base_slide">
+        <joint type="slide" axis="0 1 0" range="-3.0 3.0" armature="1.0" damping="0.0"
+          actuatorfrcrange="-1000.0 1000.0" />
+        <position ctrlrange="-3.0 3.0" kp="300" dampratio="1.0" />
+      </default>
+      <default class="left_base_hinge">
+        <joint axis="0 0 1" range="-6.28 6.28" armature="1.0" damping="0.0"
+          actuatorfrcrange="-1000.0 1000.0" />
+        <position ctrlrange="-6.28 6.28" kp="300" dampratio="1.0" />
+      </default>
+      <default class="left_base">
+        <joint axis="0 0 1" range="-0.47 0.47" />
+        <position ctrlrange="-0.47 0.47" />
+      </default>
+      <default class="left_proximal">
+        <joint range="0.196 1.61" />
+        <position ctrlrange="0.196 1.61" />
+      </default>
+      <default class="left_medial">
+        <joint range="0.174 1.709" />
+        <position ctrlrange="0.174 1.709" />
+      </default>
+      <default class="left_distal">
+        <joint range="0.227 1.618" />
+        <position ctrlrange="0.227 1.618" />
+      </default>
+      <default class="left_thumb_base">
+        <joint axis="1 0 0" range="0.263 1.396" />
+        <position ctrlrange="0.263 1.396" />
+      </default>
+      <default class="left_thumb_proximal">
+        <joint axis="0 0 1" range="0.105 1.163" />
+        <position ctrlrange="0.105 1.163" />
+      </default>
+      <default class="left_thumb_medial">
+        <joint range="0.189 1.644" />
+        <position ctrlrange="0.189 1.644" />
+      </default>
+      <default class="left_thumb_distal">
+        <joint range="0.162 1.719" />
+        <position ctrlrange="0.162 1.719" />
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material name="left_black" rgba="0.2 0.2 0.2 1" />
+    <material name="left_white" rgba="0.9 0.9 0.9 1" />
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+      height="3072" />
+    <texture type="2d" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
+      rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300" />
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true"
+      texrepeat="5 5"
+      reflectance="0.2" />
+
+    <mesh name="left_base_link" file="base_link_left.stl" />
+    <mesh name="left_link_0.0" file="link_0.0.stl" />
+    <mesh name="left_link_1.0" file="link_1.0.stl" />
+    <mesh name="left_link_2.0" file="link_2.0.stl" />
+    <mesh name="left_link_3.0" file="link_3.0.stl" />
+    <mesh name="left_link_3.0_tip" file="link_3.0_tip.stl" />
+    <mesh name="left_link_12.0_left" file="link_12.0_left.stl" />
+    <mesh name="left_link_13.0" file="link_13.0.stl" />
+    <mesh name="left_link_14.0" file="link_14.0.stl" />
+    <mesh name="left_link_15.0" file="link_15.0.stl" />
+    <mesh name="left_link_15.0_tip" file="link_15.0_tip.stl" />
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 3.5" dir="0 0 -1" directional="false" />
+    <body name="left_palm" quat="0 0 1 -1" childclass="metahand_left" gravcomp="1">
+      <!-- <inertial mass="0.4154" pos="0 0 0.0475" diaginertia="1e-4 1e-4 1e-4"/> -->
+      <camera name="left_track" pos="0.868 -0.348 -0.175"
+        xyaxes="0.037 0.999 -0.000 0.011 -0.000 1.000" />
+      <site name="left_palm" pos="0 0 0" quat="1 0 0 0" class="mimic_left" type="box"
+        size="0.01 0.02 0.03" />
+      <joint name="left_pos_x" axis="1 0 0" class="left_base_slide" />
+      <joint name="left_pos_y" axis="0 1 0" class="left_base_slide" />
+      <joint name="left_pos_z" axis="0 0 1" class="left_base_slide" />
+      <joint name="left_rot_x" axis="1 0 0" class="left_base_hinge" />
+      <joint name="left_rot_y" axis="0 1 0" class="left_base_hinge" />
+      <joint name="left_rot_z" axis="0 0 1" class="left_base_hinge" />
+      <geom quat="1 -1 0 0" class="left_palm_visual" mesh="left_base_link" />
+      <geom name="left_palm_collision" class="left_palm_collision" />
+      <!-- Ring finger -->
+      <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
+        <joint name="left_ring_base_joint" class="left_base" />
+        <geom class="left_base_visual" />
+        <geom name="left_ring_base_collision" class="left_base_collision" />
+        <body name="left_rf_proximal" pos="0 0 0.0164">
+          <joint name="left_ring_proximal_joint" class="left_proximal" />
+          <geom class="left_proximal_visual" />
+          <geom name="left_ring_proximal_collision" class="left_proximal_collision" />
+          <body name="left_rf_medial" pos="0 0 0.054">
+            <joint name="left_ring_medial_joint" class="left_medial" />
+            <geom class="left_medial_visual" />
+            <geom name="left_ring_intermediate_collision" class="left_medial_collision" />
+            <body name="left_rf_distal" pos="0 0 0.0384">
+              <joint name="left_ring_distal_joint" class="left_distal" />
+              <geom class="left_distal_visual" />
+              <geom name="left_ring_distal_collision" class="left_distal_collision" />
+              <body name="left_rf_tip">
+                <site name="left_ring_tip" pos="0 0 0.0515" class="mimic_left" />
+                <site name="track_hand_left_ring_tip" pos="0 0 0.0515" class="mimic_left" />
+                <site name="trace_left_ring_tip" pos="0 0 0.0515" class="mimic_left" />
+                <geom class="left_fingertip_visual" />
+                <geom name="left_ring_collision" class="left_fingertip_collision" />
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <!-- Middle finger -->
+      <body name="left_mf_base" pos="0 0 0.0007">
+        <joint name="left_middle_base_joint" class="left_base" />
+        <geom class="left_base_visual" />
+        <geom name="left_middle_base_collision" class="left_base_collision" />
+        <body name="left_mf_proximal" pos="0 0 0.0164">
+          <joint name="left_middle_proximal_joint" class="left_proximal" />
+          <geom class="left_proximal_visual" />
+          <geom name="left_middle_proximal_collision" class="left_proximal_collision" />
+          <body name="left_mf_medial" pos="0 0 0.054">
+            <joint name="left_middle_medial_joint" class="left_medial" />
+            <geom class="left_medial_visual" />
+            <geom name="left_middle_intermediate_collision" class="left_medial_collision" />
+            <body name="left_mf_distal" pos="0 0 0.0384">
+              <joint name="left_middle_distal_joint" class="left_distal" />
+              <geom class="left_distal_visual" />
+              <geom name="left_middle_distal_collision" class="left_distal_collision" />
+              <body name="left_mf_tip">
+                <site name="left_middle_tip" pos="0 0 0.0515" class="mimic_left" />
+                <site name="track_hand_left_middle_tip" pos="0 0 0.0515" class="mimic_left" />
+                <site name="trace_left_middle_tip" pos="0 0 0.0515" class="mimic_left" />
+                <geom class="left_fingertip_visual" />
+                <geom name="left_middle_collision" class="left_fingertip_collision" />
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <!-- First finger -->
+      <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
+        <joint name="left_index_base_joint" class="left_base" />
+        <geom class="left_base_visual" />
+        <geom name="left_index_base_collision" class="left_base_collision" />
+        <body name="left_ff_proximal" pos="0 0 0.0164">
+          <joint name="left_index_proximal_joint" class="left_proximal" />
+          <geom class="left_proximal_visual" />
+          <geom name="left_index_proximal_collision" class="left_proximal_collision" />
+          <body name="left_ff_medial" pos="0 0 0.054">
+            <joint name="left_index_medial_joint" class="left_medial" />
+            <geom class="left_medial_visual" />
+            <geom name="left_index_intermediate_collision" class="left_medial_collision" />
+            <body name="left_ff_distal" pos="0 0 0.0384">
+              <joint name="left_index_distal_joint" class="left_distal" />
+              <geom class="left_distal_visual" />
+              <geom name="left_index_distal_collision" class="left_distal_collision" />
+              <body name="left_ff_tip">
+                <site name="left_index_tip" pos="0 0 0.0515" class="mimic_left" />
+                <site name="track_hand_left_index_tip" pos="0 0 0.0515" class="mimic_left" />
+                <site name="trace_left_index_tip" pos="0 0 0.0515" class="mimic_left" />
+                <geom class="left_fingertip_visual" />
+                <geom name="left_index_collision" class="left_fingertip_collision" />
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <!-- Thumb -->
+      <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987"
+        quat="0.477714 0.521334 -0.521334 0.477714">
+        <joint name="left_thumb_base_joint" class="left_thumb_base" />
+        <geom quat="0 1 0 0" class="left_visual" mesh="left_link_12.0_left" />
+        <geom name="left_thumb_base_collision" class="left_thumb_base_collision" />
+        <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
+          <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" />
+          <geom class="left_visual" mesh="left_link_13.0" />
+          <geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" />
+          <body name="left_th_medial" pos="0 0 0.0177">
+            <joint name="left_thumb_medial_joint" class="left_thumb_medial" />
+            <geom class="left_visual" mesh="left_link_14.0" />
+            <geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" />
+            <body name="left_th_distal" pos="0 0 0.0514">
+              <joint name="left_thumb_distal_joint" class="left_thumb_distal" />
+              <geom class="left_visual" mesh="left_link_15.0" />
+              <geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" />
+              <body name="left_th_tip">
+                <site name="left_thumb_tip" pos="0 0 0.0671" class="mimic_left" />
+                <site name="track_hand_left_thumb_tip" pos="0 0 0.0671" class="mimic_left" />
+                <site name="trace_left_thumb_tip" pos="0 0 0.0671" class="mimic_left" />
+                <geom class="left_thumbtip_visual" />
+                <geom name="left_thumb_collision" class="left_thumbtip_collision" />
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <position name="left_pos_x" joint="left_pos_x" class="left_base_slide" />
+    <position name="left_pos_y" joint="left_pos_y" class="left_base_slide" />
+    <position name="left_pos_z" joint="left_pos_z" class="left_base_slide" />
+    <position name="left_rot_x" joint="left_rot_x" class="left_base_hinge" />
+    <position name="left_rot_y" joint="left_rot_y" class="left_base_hinge" />
+    <position name="left_rot_z" joint="left_rot_z" class="left_base_hinge" />
+    <position name="left_rfa0" joint="left_ring_base_joint" class="left_base" />
+    <position name="left_rfa1" joint="left_ring_proximal_joint" class="left_proximal" />
+    <position name="left_rfa2" joint="left_ring_medial_joint" class="left_medial" />
+    <position name="left_rfa3" joint="left_ring_distal_joint" class="left_distal" />
+    <position name="left_mfa0" joint="left_middle_base_joint" class="left_base" />
+    <position name="left_mfa1" joint="left_middle_proximal_joint" class="left_proximal" />
+    <position name="left_mfa2" joint="left_middle_medial_joint" class="left_medial" />
+    <position name="left_mfa3" joint="left_middle_distal_joint" class="left_distal" />
+    <position name="left_ffa0" joint="left_index_base_joint" class="left_base" />
+    <position name="left_ffa1" joint="left_index_proximal_joint" class="left_proximal" />
+    <position name="left_ffa2" joint="left_index_medial_joint" class="left_medial" />
+    <position name="left_ffa3" joint="left_index_distal_joint" class="left_distal" />
+    <position name="left_tha0" joint="left_thumb_base_joint" class="left_thumb_base" />
+    <position name="left_tha1" joint="left_thumb_proximal_joint" class="left_thumb_proximal" />
+    <position name="left_tha2" joint="left_thumb_medial_joint" class="left_thumb_medial" />
+    <position name="left_tha3" joint="left_thumb_distal_joint" class="left_thumb_distal" />
+  </actuator>
+</mujoco>

processed/fair_fre/assets/robots/metahand/right.xml

@@ -0,0 +1,348 @@
+<mujoco model="metahand_right">
+    <compiler angle="radian" meshdir="assets" autolimits="true" />
+
+    <option timestep="0.01"
+        iterations="10" ls_iterations="50">
+        <flag eulerdamp="disable" />
+    </option>
+
+    <default>
+        <default class="mimic_right">
+            <site size="0.015" type="sphere" rgba="1 0 0 1" group="3" />
+        </default>
+        <default class="metahand_right">
+            <!-- <joint axis="0 1 0" armature="1.0" damping="0.0" /> -->
+            <joint axis="0 1 0" damping="0.2" armature="0.00149376"
+                actuatorfrcrange="-0.2196 0.2196" frictionloss="0.02" />
+            <!-- <position kp="300" dampratio="1.0" /> -->
+            <position kp="3.0" dampratio="0.0" />
+            <geom density="800" />
+
+            <default class="right_visual">
+                <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black" />
+                <default class="right_palm_visual">
+                    <geom mesh="right_base_link" />
+                </default>
+                <default class="right_base_visual">
+                    <geom mesh="right_link_0.0" />
+                </default>
+                <default class="right_proximal_visual">
+                    <geom mesh="right_link_1.0" />
+                </default>
+                <default class="right_medial_visual">
+                    <geom mesh="right_link_2.0" />
+                </default>
+                <default class="right_distal_visual">
+                    <geom mesh="right_link_3.0" />
+                </default>
+                <default class="right_fingertip_visual">
+                    <geom pos="0 0 0.0515" material="right_white" mesh="right_link_3.0_tip" />
+                </default>
+                <default class="right_thumbtip_visual">
+                    <geom pos="0 0 0.0671" material="right_white" mesh="right_link_15.0_tip" />
+                </default>
+            </default>
+
+            <default class="right_collision">
+                <!-- disable all collisions, use explicit collision pairs -->
+                <geom group="3" type="box" mass="0" condim="1" contype="0" conaffinity="0" />
+                <default class="right_palm_collision">
+                    <geom size="0.0204 0.0565 0.0475" pos="-0.0093 0 -0.0475" />
+                </default>
+                <default class="right_base_collision">
+                    <geom size="0.0098 0.01375 0.0082" pos="0 0 0.0082" />
+                    <default class="right_thumb_base_collision">
+                        <geom size="0.0179 0.017 0.02275" pos="-0.0179 0.009 0.0145" />
+                    </default>
+                </default>
+                <default class="right_proximal_collision">
+                    <geom size="0.0098 0.01375 0.027" pos="0 0 0.027" />
+                    <default class="right_thumb_proximal_collision">
+                        <geom size="0.0098 0.01375 0.00885" pos="0 0 0.00885" />
+                    </default>
+                </default>
+                <default class="right_medial_collision">
+                    <geom size="0.0098 0.01375 0.0192" pos="0 0 0.0192" />
+                    <default class="right_thumb_medial_collision">
+                        <geom size="0.0098 0.01375 0.0257" pos="0 0 0.0257" />
+                    </default>
+                </default>
+                <default class="right_distal_collision">
+                    <geom size="0.0098 0.01375 0.008" pos="0 0 0.008" />
+                    <default class="right_thumb_distal_collision">
+                        <geom size="0.0098 0.01375 0.0157" pos="0 0 0.0157" />
+                    </default>
+                </default>
+                <default class="right_fingertip_collision">
+                    <!-- <geom type="sphere" size="0.01235" pos="0 0 0.0515" /> -->
+                    <geom type="capsule" size="0.01235" fromto="0 0 0 0 0 0.0515" />
+                    <default class="right_thumbtip_collision">
+                        <!-- <geom type="sphere" size="0.01235" pos="0 0 0.0671" /> -->
+                        <geom type="capsule" size="0.01235" fromto="0 0 0 0 0 0.0671" />
+                    </default>
+                </default>
+            </default>
+
+            <default class="right_base_slide">
+                <joint type="slide" axis="0 1 0" range="-3.0 3.0" armature="1.0" damping="0.0"
+                    actuatorfrcrange="-1000.0 1000.0" />
+                <position ctrlrange="-3.0 3.0" kp="300" dampratio="1.0" />
+            </default>
+            <default class="right_base_hinge">
+                <joint axis="0 0 1" range="-6.28 6.28" armature="1.0" damping="0.0"
+                    actuatorfrcrange="-1000.0 1000.0" />
+                <position ctrlrange="-6.28 6.28" kp="300" dampratio="1.0" />
+            </default>
+            <default class="right_base">
+                <joint axis="0 0 1" range="-0.47 0.47" />
+                <position ctrlrange="-0.47 0.47" />
+            </default>
+            <default class="right_proximal">
+                <!-- <joint range="-0.196 1.61" />
+                <position ctrlrange="-0.196 1.61" /> -->
+                <joint range="0.196 1.61" />
+                <position ctrlrange="0.196 1.61" />
+            </default>
+            <default class="right_medial">
+                <!-- <joint range="-0.174 1.709" />
+                <position ctrlrange="-0.174 1.709" /> -->
+                <joint range="0.174 1.709" />
+                <position ctrlrange="0.174 1.709" />
+            </default>
+            <default class="right_distal">
+                <!-- <joint range="-0.227 1.618" />
+                <position ctrlrange="-0.227 1.618" /> -->
+                <joint range="0.227 1.618" />
+                <position ctrlrange="0.227 1.618" />
+            </default>
+            <default class="right_thumb_base">
+                <!-- <joint axis="-1 0 0" range="0.263 1.396" />
+                <position ctrlrange="0.263 1.396" /> -->
+                <joint axis="-1 0 0" range="0.263 1.396" />
+                <position ctrlrange="0.263 1.396" />
+            </default>
+            <default class="right_thumb_proximal">
+                <!-- <joint axis="0 0 1" range="-0.105 1.163" />
+                <position ctrlrange="-0.105 1.163" /> -->
+                <joint axis="0 0 1" range="0.105 1.163" />
+                <position ctrlrange="0.105 1.163" />
+            </default>
+            <default class="right_thumb_medial">
+                <!-- <joint range="-0.189 1.644" />
+                <position ctrlrange="-0.189 1.644" /> -->
+                <joint range="0.189 1.644" />
+                <position ctrlrange="0.189 1.644" />
+            </default>
+            <default class="right_thumb_distal">
+                <!-- <joint range="-0.162 1.719" />
+                <position ctrlrange="-0.162 1.719" /> -->
+                <joint range="0.162 1.719" />
+                <position ctrlrange="0.162 1.719" />
+            </default>
+        </default>
+    </default>
+
+
+    <visual>
+        <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9" />
+        <rgba haze="0.15 0.25 0.35 1" />
+        <global azimuth="140" elevation="-20" />
+    </visual>
+
+    <asset>
+        <material name="right_black" rgba="0.2 0.2 0.2 1" />
+        <material name="right_white" rgba="0.9 0.9 0.9 1" />
+        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+            height="3072" />
+        <texture type="2d" 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" />
+        <material name="right_groundplane" texture="right_groundplane" texuniform="true"
+            texrepeat="5 5"
+            reflectance="0.2" />
+
+        <mesh name="right_base_link" file="base_link.stl" />
+        <mesh name="right_link_0.0" file="link_0.0.stl" />
+        <mesh name="right_link_1.0" file="link_1.0.stl" />
+        <mesh name="right_link_2.0" file="link_2.0.stl" />
+        <mesh name="right_link_3.0" file="link_3.0.stl" />
+        <mesh name="right_link_3.0_tip" file="link_3.0_tip.stl" />
+        <mesh name="right_link_12.0_right" file="link_12.0_right.stl" />
+        <mesh name="right_link_13.0" file="link_13.0.stl" />
+        <mesh name="right_link_14.0" file="link_14.0.stl" />
+        <mesh name="right_link_15.0" file="link_15.0.stl" />
+        <mesh name="right_link_15.0_tip" file="link_15.0_tip.stl" />
+    </asset>
+
+    <worldbody>
+        <light pos="0 0 3.5" dir="0 0 -1" directional="false" />
+        <body name="right_palm" quat="0 0 -1 1" childclass="metahand_right" gravcomp="1">
+            <!-- <inertial mass="0.4154" pos="0 0 0.0475" diaginertia="1e-4 1e-4 1e-4"/> -->
+            <site name="right_palm" pos="0 0 0" quat="1 0 0 0" class="mimic_right"
+                type="box"
+                size="0.01 0.02 0.03" />
+            <joint name="right_pos_x" axis="1 0 0" class="right_base_slide" />
+            <joint name="right_pos_y" axis="0 1 0" class="right_base_slide" />
+            <joint name="right_pos_z" axis="0 0 1" class="right_base_slide" />
+            <joint name="right_rot_x" axis="1 0 0" class="right_base_hinge" />
+            <joint name="right_rot_y" axis="0 1 0" class="right_base_hinge" />
+            <joint name="right_rot_z" axis="0 0 1" class="right_base_hinge" />
+            <geom class="right_palm_visual" mesh="right_base_link" />
+            <geom name="right_palm_collision" class="right_palm_collision" />
+            <!-- First finger -->
+            <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" />
+                <geom class="right_base_visual" />
+                <geom name="right_index_base_collision" class="right_base_collision" />
+                <body name="right_ff_proximal" pos="0 0 0.0164">
+                    <joint name="right_index_proximal_joint" class="right_proximal" />
+                    <geom class="right_proximal_visual" />
+                    <geom name="right_index_proximal_collision" class="right_proximal_collision" />
+                    <body name="right_ff_medial" pos="0 0 0.054">
+                        <joint name="right_index_medial_joint" class="right_medial" />
+                        <geom class="right_medial_visual" />
+                        <geom name="right_index_intermediate_collision"
+                            class="right_medial_collision" />
+                        <body name="right_ff_distal" pos="0 0 0.0384">
+                            <joint name="right_index_distal_joint" class="right_distal" />
+                            <geom class="right_distal_visual" />
+                            <geom name="right_index_tip_collision" class="right_distal_collision" />
+                            <body name="right_ff_tip">
+                                <site name="right_index_tip" pos="0 0 0.0515" class="mimic_right" />
+                                <site name="track_hand_right_index_tip" pos="0 0 0.0515"
+                                    class="mimic_right" />
+                                <site name="trace_right_index_tip" pos="0 0 0.0515"
+                                    class="mimic_right" />
+                                <geom class="right_fingertip_visual" />
+                                <geom name="right_index_collision" class="right_fingertip_collision" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <!-- Middle finger -->
+            <body name="right_mf_base" pos="0 0 0.0007">
+                <joint name="right_middle_base_joint" class="right_base" />
+                <geom class="right_base_visual" />
+                <geom name="right_middle_base_collision" class="right_base_collision" />
+                <body name="right_mf_proximal" pos="0 0 0.0164">
+                    <joint name="right_middle_proximal_joint" class="right_proximal" />
+                    <geom class="right_proximal_visual" />
+                    <geom name="right_middle_proximal_collision" class="right_proximal_collision" />
+                    <body name="right_mf_medial" pos="0 0 0.054">
+                        <joint name="right_middle_medial_joint" class="right_medial" />
+                        <geom class="right_medial_visual" />
+                        <geom name="right_middle_intermediate_collision"
+                            class="right_medial_collision" />
+                        <body name="right_mf_distal" pos="0 0 0.0384">
+                            <joint name="right_middle_distal_joint" class="right_distal" />
+                            <geom class="right_distal_visual" />
+                            <geom name="right_middle_distal_collision"
+                                class="right_distal_collision" />
+                            <body name="right_mf_tip">
+                                <site name="right_middle_tip" pos="0 0 0.0515" class="mimic_right" />
+                                <site name="track_hand_right_middle_tip" pos="0 0 0.0515"
+                                    class="mimic_right" />
+                                <site name="trace_right_middle_tip" pos="0 0 0.0515"
+                                    class="mimic_right" />
+                                <geom class="right_fingertip_visual" />
+                                <geom name="right_middle_collision"
+                                    class="right_fingertip_collision" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <!-- Ring finger -->
+            <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" />
+                <geom class="right_base_visual" />
+                <geom name="right_ring_base_collision" class="right_base_collision" />
+                <body name="right_rf_proximal" pos="0 0 0.0164">
+                    <joint name="right_ring_proximal_joint" class="right_proximal" />
+                    <geom class="right_proximal_visual" />
+                    <geom name="right_ring_proximal_collision" class="right_proximal_collision" />
+                    <body name="right_rf_medial" pos="0 0 0.054">
+                        <joint name="right_ring_medial_joint" class="right_medial" />
+                        <geom class="right_medial_visual" />
+                        <geom name="right_ring_intermediate_collision"
+                            class="right_medial_collision" />
+                        <body name="right_rf_distal" pos="0 0 0.0384">
+                            <joint name="right_ring_distal_joint" class="right_distal" />
+                            <geom class="right_distal_visual" />
+                            <geom name="right_ring_distal_collision" class="right_distal_collision" />
+                            <body name="right_rf_tip">
+                                <site name="right_ring_tip" pos="0 0 0.0515" class="mimic_right" />
+                                <site name="track_hand_right_ring_tip" pos="0 0 0.0515"
+                                    class="mimic_right" />
+                                <site name="trace_right_ring_tip" pos="0 0 0.0515"
+                                    class="mimic_right" />
+                                <geom class="right_fingertip_visual" />
+                                <geom name="right_ring_collision" class="right_fingertip_collision" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <!-- Thumb -->
+            <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" />
+                <geom class="right_visual" mesh="right_link_12.0_right" />
+                <geom name="right_thumb_base_collision" class="right_thumb_base_collision" />
+                <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
+                    <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" />
+                    <geom class="right_visual" mesh="right_link_13.0" />
+                    <geom name="right_thumb_proximal_collision"
+                        class="right_thumb_proximal_collision" />
+                    <body name="right_th_medial" pos="0 0 0.0177">
+                        <joint name="right_thumb_medial_joint" class="right_thumb_medial" />
+                        <geom class="right_visual" mesh="right_link_14.0" />
+                        <geom name="right_thumb_intermediate_collision"
+                            class="right_thumb_medial_collision" />
+                        <body name="right_th_distal" pos="0 0 0.0514">
+                            <joint name="right_thumb_distal_joint" class="right_thumb_distal" />
+                            <geom class="right_visual" mesh="right_link_15.0" />
+                            <geom name="right_thumb_distal_collision"
+                                class="right_thumb_distal_collision" />
+                            <body name="right_th_tip">
+                                <site name="right_thumb_tip" pos="0 0 0.0671" class="mimic_right" />
+                                <site name="track_hand_right_thumb_tip" pos="0 0 0.0671"
+                                    class="mimic_right" />
+                                <site name="trace_right_thumb_tip" pos="0 0 0.0671"
+                                    class="mimic_right" />
+                                <geom class="right_thumbtip_visual" />
+                                <geom name="right_thumb_collision" class="right_thumbtip_collision" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+
+    <actuator>
+        <position name="right_pos_x" joint="right_pos_x" class="right_base_slide" />
+        <position name="right_pos_y" joint="right_pos_y" class="right_base_slide" />
+        <position name="right_pos_z" joint="right_pos_z" class="right_base_slide" />
+        <position name="right_rot_x" joint="right_rot_x" class="right_base_hinge" />
+        <position name="right_rot_y" joint="right_rot_y" class="right_base_hinge" />
+        <position name="right_rot_z" joint="right_rot_z" class="right_base_hinge" />
+        <position name="right_ffa0" joint="right_index_base_joint" class="right_base" />
+        <position name="right_ffa1" joint="right_index_proximal_joint" class="right_proximal" />
+        <position name="right_ffa2" joint="right_index_medial_joint" class="right_medial" />
+        <position name="right_ffa3" joint="right_index_distal_joint" class="right_distal" />
+        <position name="right_mfa0" joint="right_middle_base_joint" class="right_base" />
+        <position name="right_mfa1" joint="right_middle_proximal_joint" class="right_proximal" />
+        <position name="right_mfa2" joint="right_middle_medial_joint" class="right_medial" />
+        <position name="right_mfa3" joint="right_middle_distal_joint" class="right_distal" />
+        <position name="right_rfa0" joint="right_ring_base_joint" class="right_base" />
+        <position name="right_rfa1" joint="right_ring_proximal_joint" class="right_proximal" />
+        <position name="right_rfa2" joint="right_ring_medial_joint" class="right_medial" />
+        <position name="right_rfa3" joint="right_ring_distal_joint" class="right_distal" />
+        <position name="right_tha0" joint="right_thumb_base_joint" class="right_thumb_base" />
+        <position name="right_tha1" joint="right_thumb_proximal_joint" class="right_thumb_proximal" />
+        <position name="right_tha2" joint="right_thumb_medial_joint" class="right_thumb_medial" />
+        <position name="right_tha3" joint="right_thumb_distal_joint" class="right_thumb_distal" />
+    </actuator>
+</mujoco>

processed/fair_fre/mano/right/pickcup/0/task_info.json

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+{
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+  "left_object_mesh_dir": null,
+  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup/convex"
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