:tada: add bulb data

processed/fair_fre/allegro/right/rotatebulb/scene.xml

@@ -0,0 +1,369 @@
+<mujoco model="allegro_right">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="10">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+
+  <default>
+    <default class="mimic_right">
+      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    </default>
+    <default class="allegro_right">
+      <joint armature="1"/>
+      <geom density="800"/>
+      <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+      <default class="right_visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
+        <default class="right_palm_visual">
+          <geom mesh="right_base_link"/>
+        </default>
+        <default class="right_base_visual">
+          <geom mesh="right_link_0.0"/>
+        </default>
+        <default class="right_proximal_visual">
+          <geom mesh="right_link_1.0"/>
+        </default>
+        <default class="right_medial_visual">
+          <geom mesh="right_link_2.0"/>
+        </default>
+        <default class="right_distal_visual">
+          <geom mesh="right_link_3.0"/>
+        </default>
+        <default class="right_fingertip_visual">
+          <geom material="right_white" mesh="right_link_3.0_tip"/>
+        </default>
+        <default class="right_thumbtip_visual">
+          <geom material="right_white" mesh="right_link_15.0_tip"/>
+        </default>
+      </default>
+      <default class="right_collision">
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
+        <default class="right_palm_collision">
+          <geom size="0.0204 0.0565 0.0475"/>
+        </default>
+        <default class="right_base_collision">
+          <geom size="0.0098 0.01375 0.0082"/>
+          <default class="right_thumb_base_collision">
+            <geom size="0.0179 0.017 0.02275"/>
+          </default>
+        </default>
+        <default class="right_proximal_collision">
+          <geom size="0.0098 0.01375 0.027"/>
+          <default class="right_thumb_proximal_collision">
+            <geom size="0.0098 0.01375 0.00885"/>
+          </default>
+        </default>
+        <default class="right_medial_collision">
+          <geom size="0.0098 0.01375 0.0192"/>
+          <default class="right_thumb_medial_collision">
+            <geom size="0.0098 0.01375 0.0257"/>
+          </default>
+        </default>
+        <default class="right_distal_collision">
+          <geom size="0.0098 0.01375 0.008"/>
+          <default class="right_thumb_distal_collision">
+            <geom size="0.0098 0.01375 0.0157"/>
+          </default>
+        </default>
+        <default class="right_fingertip_collision">
+          <geom size="0.012 0.01 0" type="capsule"/>
+          <default class="right_thumbtip_collision">
+            <geom size="0.012 0.008 0"/>
+          </default>
+        </default>
+      </default>
+      <default class="right_base_slide">
+        <joint type="slide" range="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
+      </default>
+      <default class="right_base_hinge">
+        <joint range="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+      </default>
+      <default class="right_base">
+        <joint range="-0.47 0.47"/>
+        <general ctrlrange="-0.47 0.47"/>
+      </default>
+      <default class="right_proximal">
+        <joint range="0.196 1.61"/>
+        <general ctrlrange="0.196 1.61"/>
+      </default>
+      <default class="right_medial">
+        <joint range="0.174 1.709"/>
+        <general ctrlrange="0.174 1.709"/>
+      </default>
+      <default class="right_distal">
+        <joint range="0.227 1.618"/>
+        <general ctrlrange="0.227 1.618"/>
+      </default>
+      <default class="right_thumb_base">
+        <joint range="0.263 1.396"/>
+        <general ctrlrange="0.263 1.396"/>
+      </default>
+      <default class="right_thumb_proximal">
+        <joint range="0.105 1.163"/>
+        <general ctrlrange="0.105 1.163"/>
+      </default>
+      <default class="right_thumb_medial">
+        <joint range="0.189 1.644"/>
+        <general ctrlrange="0.189 1.644"/>
+      </default>
+      <default class="right_thumb_distal">
+        <joint range="0.162 1.719"/>
+        <general ctrlrange="0.162 1.719"/>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_black" rgba="0.2 0.2 0.2 1"/>
+    <material name="right_white" rgba="0.9 0.9 0.9 1"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_base_link" file="robots/allegro/assets/base_link.stl"/>
+    <mesh name="right_link_0.0" file="robots/allegro/assets/link_0.0.stl"/>
+    <mesh name="right_link_1.0" file="robots/allegro/assets/link_1.0.stl"/>
+    <mesh name="right_link_2.0" file="robots/allegro/assets/link_2.0.stl"/>
+    <mesh name="right_link_3.0" file="robots/allegro/assets/link_3.0.stl"/>
+    <mesh name="right_link_3.0_tip" file="robots/allegro/assets/link_3.0_tip.stl"/>
+    <mesh name="right_link_12.0_right" file="robots/allegro/assets/link_12.0_right.stl"/>
+    <mesh name="right_link_13.0" file="robots/allegro/assets/link_13.0.stl"/>
+    <mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
+    <mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
+    <mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
+    <mesh name="right_0" file="objects/bulb/convex/0.obj"/>
+    <mesh name="right_1" file="objects/bulb/convex/1.obj"/>
+    <mesh name="right_visual" file="objects/bulb/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_palm" childclass="allegro_right" quat="0 0 0.707107 -0.707107" gravcomp="1">
+      <joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0"/>
+      <joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0"/>
+      <joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1"/>
+      <joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0"/>
+      <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
+      <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
+      <geom class="right_palm_visual" mesh="right_base_link"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
+        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_ff_proximal" pos="0 0 0.0164">
+          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_ff_medial" pos="0 0 0.054">
+            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_ff_distal" pos="0 0 0.0384">
+              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_ff_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_mf_base" pos="0 0 0.0007">
+        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_mf_proximal" pos="0 0 0.0164">
+          <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_mf_medial" pos="0 0 0.054">
+            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_mf_distal" pos="0 0 0.0384">
+              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_mf_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
+        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_rf_proximal" pos="0 0 0.0164">
+          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_rf_medial" pos="0 0 0.054">
+            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_rf_distal" pos="0 0 0.0384">
+              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_rf_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
+        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
+        <geom class="right_visual" mesh="right_link_12.0_right"/>
+        <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
+          <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <geom class="right_visual" mesh="right_link_13.0"/>
+          <body name="right_th_medial" pos="0 0 0.0177">
+            <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_visual" mesh="right_link_14.0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <body name="right_th_distal" pos="0 0 0.0514">
+              <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_visual" mesh="right_link_15.0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <body name="right_th_tip">
+                <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" 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_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 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="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_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_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_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_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_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_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_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_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_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_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_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_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"/>
+  </contact>
+
+  <actuator>
+    <general name="right_pos_x" class="right_base_slide" joint="right_pos_x"/>
+    <general name="right_pos_y" class="right_base_slide" joint="right_pos_y"/>
+    <general name="right_pos_z" class="right_base_slide" joint="right_pos_z"/>
+    <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
+    <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
+    <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
+    <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
+    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
+    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
+    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
+    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
+    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
+    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
+    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
+    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
+    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
+    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
+    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
+    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
+    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
+    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
+    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
+  </actuator>
+</mujoco>

processed/fair_fre/allegro/right/rotatebulb/scene_eq.xml

@@ -0,0 +1,380 @@
+<mujoco model="allegro_right">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="10">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+
+  <default>
+    <default class="mimic_right">
+      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    </default>
+    <default class="allegro_right">
+      <joint armature="1"/>
+      <geom density="800"/>
+      <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+      <default class="right_visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
+        <default class="right_palm_visual">
+          <geom mesh="right_base_link"/>
+        </default>
+        <default class="right_base_visual">
+          <geom mesh="right_link_0.0"/>
+        </default>
+        <default class="right_proximal_visual">
+          <geom mesh="right_link_1.0"/>
+        </default>
+        <default class="right_medial_visual">
+          <geom mesh="right_link_2.0"/>
+        </default>
+        <default class="right_distal_visual">
+          <geom mesh="right_link_3.0"/>
+        </default>
+        <default class="right_fingertip_visual">
+          <geom material="right_white" mesh="right_link_3.0_tip"/>
+        </default>
+        <default class="right_thumbtip_visual">
+          <geom material="right_white" mesh="right_link_15.0_tip"/>
+        </default>
+      </default>
+      <default class="right_collision">
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
+        <default class="right_palm_collision">
+          <geom size="0.0204 0.0565 0.0475"/>
+        </default>
+        <default class="right_base_collision">
+          <geom size="0.0098 0.01375 0.0082"/>
+          <default class="right_thumb_base_collision">
+            <geom size="0.0179 0.017 0.02275"/>
+          </default>
+        </default>
+        <default class="right_proximal_collision">
+          <geom size="0.0098 0.01375 0.027"/>
+          <default class="right_thumb_proximal_collision">
+            <geom size="0.0098 0.01375 0.00885"/>
+          </default>
+        </default>
+        <default class="right_medial_collision">
+          <geom size="0.0098 0.01375 0.0192"/>
+          <default class="right_thumb_medial_collision">
+            <geom size="0.0098 0.01375 0.0257"/>
+          </default>
+        </default>
+        <default class="right_distal_collision">
+          <geom size="0.0098 0.01375 0.008"/>
+          <default class="right_thumb_distal_collision">
+            <geom size="0.0098 0.01375 0.0157"/>
+          </default>
+        </default>
+        <default class="right_fingertip_collision">
+          <geom size="0.012 0.01 0" type="capsule"/>
+          <default class="right_thumbtip_collision">
+            <geom size="0.012 0.008 0"/>
+          </default>
+        </default>
+      </default>
+      <default class="right_base_slide">
+        <joint type="slide" range="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
+      </default>
+      <default class="right_base_hinge">
+        <joint range="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+      </default>
+      <default class="right_base">
+        <joint range="-0.47 0.47"/>
+        <general ctrlrange="-0.47 0.47"/>
+      </default>
+      <default class="right_proximal">
+        <joint range="0.196 1.61"/>
+        <general ctrlrange="0.196 1.61"/>
+      </default>
+      <default class="right_medial">
+        <joint range="0.174 1.709"/>
+        <general ctrlrange="0.174 1.709"/>
+      </default>
+      <default class="right_distal">
+        <joint range="0.227 1.618"/>
+        <general ctrlrange="0.227 1.618"/>
+      </default>
+      <default class="right_thumb_base">
+        <joint range="0.263 1.396"/>
+        <general ctrlrange="0.263 1.396"/>
+      </default>
+      <default class="right_thumb_proximal">
+        <joint range="0.105 1.163"/>
+        <general ctrlrange="0.105 1.163"/>
+      </default>
+      <default class="right_thumb_medial">
+        <joint range="0.189 1.644"/>
+        <general ctrlrange="0.189 1.644"/>
+      </default>
+      <default class="right_thumb_distal">
+        <joint range="0.162 1.719"/>
+        <general ctrlrange="0.162 1.719"/>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_black" rgba="0.2 0.2 0.2 1"/>
+    <material name="right_white" rgba="0.9 0.9 0.9 1"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_base_link" file="robots/allegro/assets/base_link.stl"/>
+    <mesh name="right_link_0.0" file="robots/allegro/assets/link_0.0.stl"/>
+    <mesh name="right_link_1.0" file="robots/allegro/assets/link_1.0.stl"/>
+    <mesh name="right_link_2.0" file="robots/allegro/assets/link_2.0.stl"/>
+    <mesh name="right_link_3.0" file="robots/allegro/assets/link_3.0.stl"/>
+    <mesh name="right_link_3.0_tip" file="robots/allegro/assets/link_3.0_tip.stl"/>
+    <mesh name="right_link_12.0_right" file="robots/allegro/assets/link_12.0_right.stl"/>
+    <mesh name="right_link_13.0" file="robots/allegro/assets/link_13.0.stl"/>
+    <mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
+    <mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
+    <mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
+    <mesh name="right_0" file="objects/bulb/convex/0.obj"/>
+    <mesh name="right_1" file="objects/bulb/convex/1.obj"/>
+    <mesh name="right_visual" file="objects/bulb/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_palm" childclass="allegro_right" quat="0 0 0.707107 -0.707107" gravcomp="1">
+      <joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0"/>
+      <joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0"/>
+      <joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1"/>
+      <joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0"/>
+      <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
+      <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
+      <geom class="right_palm_visual" mesh="right_base_link"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
+        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_ff_proximal" pos="0 0 0.0164">
+          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_ff_medial" pos="0 0 0.054">
+            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_ff_distal" pos="0 0 0.0384">
+              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_ff_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_mf_base" pos="0 0 0.0007">
+        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_mf_proximal" pos="0 0 0.0164">
+          <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_mf_medial" pos="0 0 0.054">
+            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_mf_distal" pos="0 0 0.0384">
+              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_mf_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
+        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_rf_proximal" pos="0 0 0.0164">
+          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_rf_medial" pos="0 0 0.054">
+            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_rf_distal" pos="0 0 0.0384">
+              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_rf_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
+        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
+        <geom class="right_visual" mesh="right_link_12.0_right"/>
+        <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
+          <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <geom class="right_visual" mesh="right_link_13.0"/>
+          <body name="right_th_medial" pos="0 0 0.0177">
+            <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_visual" mesh="right_link_14.0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <body name="right_th_distal" pos="0 0 0.0514">
+              <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_visual" mesh="right_link_15.0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <body name="right_th_tip">
+                <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" 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_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 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="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_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_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_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_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_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_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_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_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_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_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_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_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"/>
+  </contact>
+
+  <equality>
+    <connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
+  </equality>
+
+  <actuator>
+    <general name="right_pos_x" class="right_base_slide" joint="right_pos_x"/>
+    <general name="right_pos_y" class="right_base_slide" joint="right_pos_y"/>
+    <general name="right_pos_z" class="right_base_slide" joint="right_pos_z"/>
+    <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
+    <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
+    <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
+    <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
+    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
+    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
+    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
+    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
+    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
+    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
+    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
+    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
+    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
+    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
+    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
+    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
+    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
+    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
+    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
+  </actuator>
+</mujoco>

processed/fair_fre/allegro/right/rotatebulb/task_info.json

@@ -0,0 +1,10 @@
+{
+  "task": "rotatebulb",
+  "dataset_name": "fair_fre",
+  "robot_type": "allegro",
+  "hand_type": "right",
+  "data_id": 1,
+  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/bulb",
+  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/bulb/convex",
+  "left_object_mesh_dir": null
+}

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

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.01733766 -0.29658875 -0.00241376
+v -0.01656023 -0.29658875 0.00563211
+v -0.01530073 -0.29658875 -0.00855510
+v -0.01366440 -0.32679747 -0.00500405
+v -0.01325022 -0.32897406 0.00428773
+v -0.01322985 -0.29658875 0.01151883
+v -0.01151883 -0.29658875 -0.01322985
+v -0.00943777 -0.32951821 -0.00998095
+v -0.01258143 -0.33203915 -0.00269214
+v -0.00455593 -0.33978050 0.00078422
+v -0.00910168 -0.33105288 0.01092812
+v -0.00855510 -0.29658875 0.01530073
+v -0.00563211 -0.29658875 -0.01656023
+v -0.00274306 -0.32989231 -0.01338602
+v 0.00089625 -0.34001857 -0.00260387
+v 0.00078422 -0.33978050 0.00455593
+v -0.00230512 -0.33090834 0.01370174
+v -0.00241376 -0.29658875 0.01733766
+v 0.00241376 -0.29658875 -0.01733766
+v 0.00401614 -0.33001135 -0.01299900
+v 0.01322985 -0.33097211 0.00198940
+v 0.00914581 -0.33074254 -0.00967541
+v 0.01326380 -0.33037694 -0.00326927
+v 0.01161389 -0.33028767 0.00744837
+v 0.00609381 -0.33085307 0.01208578
+v 0.00563211 -0.29658875 0.01656023
+v 0.00855510 -0.29658875 -0.01530073
+v 0.01733766 -0.29658875 0.00241376
+v 0.01322985 -0.29658875 -0.01151883
+v 0.01656023 -0.29658875 -0.00563211
+v 0.01530073 -0.29658875 0.00855510
+v 0.01151883 -0.29658875 0.01322985
+f 1 2 6
+f 1 6 12
+f 1 12 18
+f 1 18 26
+f 1 26 32
+f 1 32 31
+f 1 31 28
+f 1 28 30
+f 1 30 29
+f 1 29 27
+f 1 27 19
+f 1 19 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 10
+f 8 10 9
+f 10 15 16
+f 10 16 11
+f 11 16 17
+f 11 17 12
+f 12 17 18
+f 13 19 14
+f 14 20 15
+f 14 19 20
+f 15 21 16
+f 15 20 22
+f 15 22 23
+f 15 23 21
+f 16 21 24
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 17 26 18
+f 19 27 20
+f 20 27 22
+f 21 23 28
+f 21 28 24
+f 22 27 29
+f 22 29 23
+f 23 29 30
+f 23 30 28
+f 24 28 31
+f 24 31 32
+f 24 32 25
+f 25 32 26
+

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

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.02775252 -0.26480383 0.00554692
+v -0.01569097 -0.24963438 0.01413447
+v -0.02326905 -0.25117387 0.00105704
+v -0.02628443 -0.26074618 -0.00859878
+v -0.02662769 -0.27749911 -0.00111565
+v -0.02106691 -0.27339197 0.01744769
+v -0.01130255 -0.26539764 0.02603007
+v -0.00127942 -0.25101443 0.02314003
+v 0.00571776 -0.24086480 0.00810151
+v -0.00855120 -0.24041945 -0.00050668
+v -0.01831029 -0.25241096 -0.01503428
+v -0.01130255 -0.26539764 -0.02603191
+v -0.02032759 -0.27607508 -0.01721213
+v -0.01694782 -0.29658325 0.00185180
+v -0.01088008 -0.29658325 0.01341712
+v -0.00264717 -0.27746062 0.02619522
+v 0.00720697 -0.26090013 0.02652551
+v 0.01709808 -0.25193812 0.01573947
+v 0.01080326 -0.24261872 -0.00577068
+v -0.00248874 -0.24512039 -0.01682507
+v -0.00046616 -0.25683699 -0.02582548
+v -0.00264717 -0.27746062 -0.02619706
+v -0.00763233 -0.29658325 -0.01391439
+v 0.00763473 -0.29658325 0.01391255
+v 0.01385561 -0.27371087 0.02375933
+v 0.02412167 -0.27218238 0.01327262
+v 0.02598582 -0.26134548 -0.00646738
+v 0.01667033 -0.25736481 -0.02041182
+v 0.01730404 -0.27632250 -0.02024151
+v 0.01087719 -0.29658325 -0.01341896
+v 0.01695022 -0.29658325 -0.00184848
+v 0.02619706 -0.27746062 -0.00264840
+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 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 17 8
+f 7 16 17
+f 8 18 9
+f 8 17 18
+f 9 19 10
+f 9 18 19
+f 10 19 20
+f 10 20 11
+f 11 21 12
+f 11 20 21
+f 12 22 13
+f 12 21 22
+f 13 22 23
+f 13 23 14
+f 14 23 30
+f 14 30 31
+f 14 31 24
+f 14 24 15
+f 15 24 16
+f 16 25 17
+f 16 24 25
+f 17 25 18
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 19 28 20
+f 20 28 21
+f 21 28 29
+f 21 29 22
+f 22 30 23
+f 22 29 30
+f 24 31 26
+f 24 26 25
+f 26 31 32
+f 26 32 27
+f 27 32 29
+f 27 29 28
+f 29 32 30
+f 30 32 31
+

processed/fair_fre/assets/objects/bulb/visual.obj

@@ -96084,7 +96084,7 @@ f 29822/1/29822 29987/1/29987 30148/1/30148 29967/6/29967 32092/4/32092
 f 29967/1/29967 30148/1/30148 30049/1/30049 29846/6/29846 32093/4/32093
 f 29921/1/29921 30167/1/30167 29951/1/29951 29825/6/29825 32094/4/32094
 f 29824/1/29824 30002/1/30002 30166/1/30166 29969/6/29969 32096/4/32096
-vt 52298432.0000000 0.0000000
+vt -8745924183366988338298880.0000000 0.0000000
 vt 0.0000000 0.0000000
 f 29969/1/29969 30166/1/30166 30071/1/30071 29848/8/29848 32097/9/32097
 # 31869 faces, 9 coords texture

processed/fair_fre/assets/robots/ability/ability_hand_left_6dof.urdf

@@ -0,0 +1,562 @@
+<robot name="ability_hand">
+ <mujoco>
+    <compiler meshdir="assets" balanceinertia="true" discardvisual="false"/>
+  </mujoco> 
+  <link name="root"/>
+  <joint name="L_forearm_tx_link_joint" type="prismatic">
+    <parent link="L_forearm_tx_link"/>
+    <child link="L_forearm_ty_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-5.0" upper="5.0" effort="50" velocity="5"/>
+  </joint>
+  <link name="L_forearm_tx_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_ty_link_joint" type="prismatic">
+    <parent link="L_forearm_ty_link"/>
+    <child link="L_forearm_tz_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-5.0" upper="5.0" effort="50" velocity="5"/>
+  </joint>
+  <link name="L_forearm_ty_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_tz_link_joint" type="prismatic">
+    <parent link="L_forearm_tz_link"/>
+    <child link="L_forearm_roll_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-5.0" upper="5.0" effort="50" velocity="5"/>
+  </joint>
+  <link name="L_forearm_tz_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_roll_link_joint" type="revolute">
+    <parent link="L_forearm_roll_link"/>
+    <child link="L_forearm_pitch_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.2" upper="6.2" effort="50" velocity="5"/>
+  </joint>
+  <link name="L_forearm_roll_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_pitch_link_joint" type="revolute">
+    <parent link="L_forearm_pitch_link"/>
+    <child link="L_forearm_yaw_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-6.2" upper="6.2" effort="50" velocity="5"/>
+  </joint>
+  <link name="L_forearm_pitch_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_yaw_link_joint" type="revolute">
+    <parent link="L_forearm_yaw_link"/>
+    <child link="base"/>
+    <axis xyz="0 -1 0"/>
+    <limit lower="-6.2" upper="6.2" effort="50" velocity="5"/>
+  </joint>
+  <link name="L_forearm_yaw_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="fixed" type="fixed">
+    <parent link="root"/>
+    <child link="L_forearm_tx_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="base">
+    <visual name="wrist_mesh">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/wristmesh.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/wristmesh_C.obj"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.200"/>
+      <inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="wrist2thumb" type="fixed">
+    <parent link="base"/>
+    <child link="thumb_base"/>
+    <origin xyz="24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="3.14148426 0.08848813 3.14036612"/>
+  </joint>
+  <link name="thumb_base">
+    <inertial>
+      <mass value="0.400"/>
+      <inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="palm_mesh">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/FB_palm_ref.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/FB_palm_ref.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_L1">
+    <inertial>
+      <mass value="0.00268342"/>
+      <inertia ixx="0.16931e-4" ixy="-0.076214e-4" ixz="-0.16959148e-4" iyy="0.77769934e-4" iyz="0.0156622e-4" izz="0.7249122e-4"/>
+      <origin rpy="0 0 0" xyz="14.606e-3 -1.890854e-3 -3.1155356e-3"/>
+    </inertial>
+    <visual name="thumb_mesh_1">
+      <origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/thumb-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/thumb-F1_C.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_L2">
+    <inertial>
+      <mass value="0.0055"/>
+      <inertia ixx="4.4789082e-4" ixy="4.4789082e-4" ixz="-0.62144934e-4" iyy="15.600996e-4" iyz="-0.07466143e-4" izz="17.908554e-4"/>
+      <origin rpy="0 0 0" xyz="30.020522e-3 5.59476e-3 -4.1504356e-3"/>
+    </inertial>
+    <visual name="thumb_mesh_2">
+      <origin xyz="65.18669e-3 23.34021e-3 -3.93483e-3" rpy="3.141592 0 0.343830"/>
+      <geometry>
+        <mesh filename="meshes/visual/thumb-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="65.18669e-3 23.34021e-3 -3.93483e-3" rpy="3.141592 0 0.343830"/>
+      <geometry>
+        <mesh filename="meshes/collision/thumb-F2_C.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="thumb_L1"/>
+    <origin xyz="0 0 0" rpy="0 0 3.330437"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.0943951" upper="0" effort="1.2" velocity="40.338888721"/>
+    <dynamics damping="0.001" friction="0.001"/>
+  </joint>
+  <joint name="thumb_q2" type="revolute">
+    <parent link="thumb_L1"/>
+    <child link="thumb_L2"/>
+    <origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+  </joint>
+  <link name="thumb_tip"/>
+  <joint name="thumb_tip_joint" type="fixed">
+    <parent link="thumb_L2"/>
+    <child link="thumb_tip"/>
+    <origin rpy="0 0 0" xyz="0.065 0.016 0"/>
+  </joint>
+  <link name="index_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="index_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="index_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="index_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="index_L1"/>
+    <origin xyz="-9.49e-3 -13.04e-3 -62.95e-3" rpy="-1.982050 1.284473 -2.090591"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+  </joint>
+  <joint name="index_q2" type="revolute">
+    <parent link="index_L1"/>
+    <child link="index_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <mimic joint="index_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="index_tip"/>
+  <joint name="index_tip_joint" type="fixed">
+    <parent link="index_L2"/>
+    <child link="index_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="middle_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="middle_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="middle_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="middle_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="middle_L1"/>
+    <origin xyz="9.653191e-3 -15.310271e-3 -67.853949e-3" rpy="-1.860531 1.308458 -1.896217"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="middle_q2" type="revolute">
+    <parent link="middle_L1"/>
+    <child link="middle_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <mimic joint="middle_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="middle_tip"/>
+  <joint name="middle_tip_joint" type="fixed">
+    <parent link="middle_L2"/>
+    <child link="middle_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="ring_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="ring_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="ring_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="ring_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="ring_L1"/>
+    <origin xyz="29.954260e-3 -14.212492e-3 -67.286105e-3" rpy="-1.716598 1.321452 -1.675862"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="ring_q2" type="revolute">
+    <parent link="ring_L1"/>
+    <child link="ring_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <mimic joint="ring_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="ring_tip"/>
+  <joint name="ring_tip_joint" type="fixed">
+    <parent link="ring_L2"/>
+    <child link="ring_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="pinky_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="pinky_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="pinky_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="pinky_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="pinky_L1"/>
+    <origin xyz="49.521293e-3 -11.004583e-3 -63.029065e-3" rpy="-1.765110 1.322220 -1.658383"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="pinky_q2" type="revolute">
+    <parent link="pinky_L1"/>
+    <child link="pinky_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="pinky_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="pinky_tip"/>
+  <joint name="pinky_tip_joint" type="fixed">
+    <parent link="pinky_L2"/>
+    <child link="pinky_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+</robot>

processed/fair_fre/assets/robots/ability/ability_hand_right_6dof.urdf

@@ -0,0 +1,562 @@
+<robot name="ability_hand">
+  <mujoco>
+    <compiler meshdir="assets" balanceinertia="true" discardvisual="false"/>
+  </mujoco> 
+  <link name="root"/>
+  <joint name="R_forearm_tx_link_joint" type="prismatic">
+    <parent link="R_forearm_tx_link"/>
+    <child link="R_forearm_ty_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-5.0" upper="5.0" effort="50" velocity="5"/>
+  </joint>
+  <link name="R_forearm_tx_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_ty_link_joint" type="prismatic">
+    <parent link="R_forearm_ty_link"/>
+    <child link="R_forearm_tz_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-5.0" upper="5.0" effort="50" velocity="5"/>
+  </joint>
+  <link name="R_forearm_ty_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_tz_link_joint" type="prismatic">
+    <parent link="R_forearm_tz_link"/>
+    <child link="R_forearm_roll_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-5.0" upper="5.0" effort="50" velocity="5"/>
+  </joint>
+  <link name="R_forearm_tz_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_roll_link_joint" type="revolute">
+    <parent link="R_forearm_roll_link"/>
+    <child link="R_forearm_pitch_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.2" upper="6.2" effort="50" velocity="5"/>
+  </joint>
+  <link name="R_forearm_roll_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_pitch_link_joint" type="revolute">
+    <parent link="R_forearm_pitch_link"/>
+    <child link="R_forearm_yaw_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-6.2" upper="6.2" effort="50" velocity="5"/>
+  </joint>
+  <link name="R_forearm_pitch_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_yaw_link_joint" type="revolute">
+    <parent link="R_forearm_yaw_link"/>
+    <child link="base"/>
+    <axis xyz="0 -1 0"/>
+    <limit lower="-6.2" upper="6.2" effort="50" velocity="5"/>
+  </joint>
+  <link name="R_forearm_yaw_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="fixed" type="fixed">
+    <parent link="root"/>
+    <child link="R_forearm_tx_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="base">
+    <visual name="wrist_mesh">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/wristmesh.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/wristmesh_C.obj"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.200"/>
+      <inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="wrist2thumb" type="fixed">
+    <parent link="base"/>
+    <child link="thumb_base"/>
+    <origin xyz="-24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="3.14148426 -0.08848813 -3.14036612"/>
+  </joint>
+  <link name="thumb_base">
+    <inertial>
+      <mass value="0.200"/>
+      <inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="palm_mesh">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/FB_palm_ref_MIR.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/FB_palm_ref_MIR.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_L1">
+    <inertial>
+      <mass value="0.00268342"/>
+      <inertia ixx="0.16931e-4" ixy="-0.076214e-4" ixz="-0.16959148e-4" iyy="0.77769934e-4" iyz="0.0156622e-4" izz="0.7249122e-4"/>
+      <origin rpy="0 0 0" xyz="14.606e-3 -1.890854e-3 -3.1155356e-3"/>
+    </inertial>
+    <visual name="thumb_mesh_1">
+      <origin xyz=" 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy=" 1.832595714594045 -0.0 5.366520605522463e-18 "/>
+      <geometry>
+        <mesh filename="meshes/visual/thumb-F1-MIR.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="27.8283501e-3 1.7436510745838653e-19 14.7507e-3" rpy="1.832595714594045 -0.0 5.366520605522463e-18"/>
+      <geometry>
+        <mesh filename="meshes/collision/thumb-F1-MIR_C.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_L2">
+    <inertial>
+      <mass value="0.0055"/>
+      <inertia ixx="4.4789082e-4" ixy="4.4789082e-4" ixz="-0.62144934e-4" iyy="15.600996e-4" iyz="-0.07466143e-4" izz="17.908554e-4"/>
+      <origin rpy="0 0 0" xyz="30.020522e-3 5.59476e-3 -4.1504356e-3"/>
+    </inertial>
+    <visual name="thumb_mesh_2">
+      <origin xyz="65.18669e-3 23.34021e-3 3.93483e-3" rpy="-3.141592 0 0.343830"/>
+      <geometry>
+        <mesh filename="meshes/visual/thumb-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="65.18669e-3 23.34021e-3 3.93483e-3" rpy="-3.141592 0 0.343830"/>
+      <geometry>
+        <mesh filename="meshes/collision/thumb-F2_C.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="thumb_L1"/>
+    <origin xyz=" 0.0 0.0 0.0 " rpy=" 3.141592653589793 -0.0 -0.18884434641020664 "/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.0943951" upper="0" effort="1.2" velocity="40.338888721"/>
+    <dynamics damping="0.001" friction="0.001"/>
+  </joint>
+  <joint name="thumb_q2" type="revolute">
+    <parent link="thumb_L1"/>
+    <child link="thumb_L2"/>
+    <origin xyz=" 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy=" 1.832595714594045 -0.0 5.366520605522463e-18 "/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+  </joint>
+  <link name="thumb_tip"/>
+  <joint name="thumb_tip_joint" type="fixed">
+    <parent link="thumb_L2"/>
+    <child link="thumb_tip"/>
+    <origin rpy="0 0 0" xyz="0.065 0.016 0"/>
+  </joint>
+  <link name="index_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="index_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="index_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="index_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="index_L1"/>
+    <origin xyz=" 9.49e-3 -13.04e-3 -62.95e-3 " rpy=" -1.1595426535897932 1.284473 -1.0510016535897932 "/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+  </joint>
+  <joint name="index_q2" type="revolute">
+    <parent link="index_L1"/>
+    <child link="index_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <mimic joint="index_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="index_tip"/>
+  <joint name="index_tip_joint" type="fixed">
+    <parent link="index_L2"/>
+    <child link="index_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="middle_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="middle_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="middle_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="middle_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="middle_L1"/>
+    <origin xyz=" -9.653191e-3 -15.310271e-3 -67.853949e-3 " rpy=" -1.2810616535897934 1.308458 -1.2453756535897933 "/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="middle_q2" type="revolute">
+    <parent link="middle_L1"/>
+    <child link="middle_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <mimic joint="middle_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="middle_tip"/>
+  <joint name="middle_tip_joint" type="fixed">
+    <parent link="middle_L2"/>
+    <child link="middle_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="ring_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="ring_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="ring_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="ring_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="ring_L1"/>
+    <origin xyz=" -29.95426e-3 -14.212492e-3 -67.286105e-3 " rpy=" -1.424994653589793 1.321452 -1.4657306535897934 "/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="ring_q2" type="revolute">
+    <parent link="ring_L1"/>
+    <child link="ring_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <mimic joint="ring_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="ring_tip"/>
+  <joint name="ring_tip_joint" type="fixed">
+    <parent link="ring_L2"/>
+    <child link="ring_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="pinky_L1">
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+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="pinky_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
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+      <geometry>
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+      </geometry>
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+      <geometry>
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+      </geometry>
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+    <collision>
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+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="pinky_L2">
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+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="pinky_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
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+    <dynamics damping="0.001" friction="0.001"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="pinky_q2" type="revolute">
+    <parent link="pinky_L1"/>
+    <child link="pinky_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="pinky_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="pinky_tip"/>
+  <joint name="pinky_tip_joint" type="fixed">
+    <parent link="pinky_L2"/>
+    <child link="pinky_tip"/>
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+</robot>

processed/fair_fre/assets/robots/ability/assets/FB_palm_ref.mtl

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+# Material Count: 1
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+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
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processed/fair_fre/assets/robots/ability/assets/thumb-F1.obj

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processed/fair_fre/assets/robots/ability/assets/thumb-F2.obj

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

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

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

@@ -0,0 +1,325 @@
+<mujoco model="ability_hand">
+  <compiler angle="radian" meshdir="assets/" />
+
+  <default>
+    <!-- disable all contacts and use explicit collision pairs -->
+    <geom density="800" condim="1" contype="0" conaffinity="0" />
+    <!-- with this setting, the response time is around 1s -->
+    <position kp="300" dampratio="1.0" inheritrange="1" />
+    <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+  </default>
+
+  <asset>
+    <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_wristmesh" file="wristmesh.obj" />
+    <mesh name="left_wristmesh_C" file="wristmesh_C.obj" />
+    <mesh name="left_FB_palm_ref_MIR" file="FB_palm_ref_MIR.obj" />
+    <mesh name="left_thumb-F1-MIR" file="thumb-F1-MIR.obj" />
+    <mesh name="left_thumb-F1-MIR_C" file="thumb-F1-MIR_C.obj" />
+    <mesh name="left_thumb-F2" file="thumb-F2.obj" />
+    <mesh name="left_thumb-F2_C" file="thumb-F2_C.obj" />
+    <mesh name="left_idx-F1" file="idx-F1.obj" />
+    <mesh name="left_idx-F2" file="idx-F2.obj" />
+    <mesh name="left_idx-F2_C" file="idx-F2_C.obj" />
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 3.5" dir="0 0 -1" directional="false" />
+    <body name="R_forearm_ty_link">
+      <camera name="left_track" pos="-0.868 -0.348 -0.175"
+        xyaxes="-0.037 0.999 -0.000 -0.011 -0.000 1.000" />
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"
+      />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"
+        />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"
+          />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"
+            />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"
+              />
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618"
+                  quat="0.206138 0.349162 0.787163 0.464724" mass="0.4"
+                  diaginertia="0.00194995 0.00194995 0.00178617" />
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"
+                />
+                <geom name="left_wrist_mesh" type="mesh" contype="0" conaffinity="0" group="1"
+                  density="0" mesh="left_wristmesh" />
+                <geom name="collision_hand_left_palm_0" type="mesh" mesh="left_wristmesh_C"
+                  group="3" />
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296"
+                  quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" contype="0"
+                  conaffinity="0" group="1" density="0" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296"
+                  quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh"
+                  mesh="left_FB_palm_ref_MIR" group="3" />
+                <geom type="box" name="collision_hand_left_palm_2" size="0.03 0.02 0.04"
+                  pos="0 0 0.05" contype="0" conaffinity="0" group="3"
+                  density="0" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" type="box"
+                  size="0.01 0.02 0.03" quat="1 0 0 -1" />
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296"
+                  quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554"
+                    quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342"
+                    diaginertia="8.14795e-05 7.42718e-05 1.14409e-05" />
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"
+                  />
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507"
+                    quat="0.608761 0.793353 0 0"
+                    type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    mesh="left_thumb-F1-MIR" />
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507"
+                    quat="0.608761 0.793353 0 0" type="mesh"
+                    mesh="left_thumb-F1-MIR_C" group="3" />
+                  <geom name="collision_hand_left_thumb_3" type="sphere" size="0.01"
+                    pos="0.0278284 0 0.0147507" contype="0" conaffinity="0" group="3"
+                    density="0" rgba="0 1 0 1" />
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507"
+                    quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044"
+                      quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055"
+                      diaginertia="0.00180207 0.00170892 0.000287855" />
+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1.0"
+                    />
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483"
+                      quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" contype="0"
+                      conaffinity="0" group="1" density="0" mesh="left_thumb-F2" />
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483"
+                      quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh"
+                      mesh="left_thumb-F2_C" group="3" />
+                    <geom name="collision_hand_left_thumb_0" type="capsule" size="0.007"
+                      fromto="0 0 0 0.0651867 0.0233402 0.00393483" contype="0" conaffinity="0"
+                      group="3"
+                      density="0" rgba="0 1 0 1" />
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483" />
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483" />
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483" />
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706"
+                  quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05"
+                    quat="-0.00406251 0.706621 0.00934715 0.707518" mass="0.00635888"
+                    diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                  />
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244" type="mesh" contype="0" conaffinity="0" group="1"
+                    density="0" mesh="left_idx-F1" />
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0"
+                    group="3" />
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008"
+                    pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374"
+                    type="box" group="3" />
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008"
+                    pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374"
+                    type="box" group="3" />
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001"
+                    pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" group="3" />
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001"
+                    pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" group="3" />
+                  <geom name="collision_hand_left_index_1" type="sphere" size="0.01"
+                    pos="0.019 -0.0045 0" contype="0" conaffinity="0" group="3"
+                    density="0" rgba="0 1 0 1" />
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05"
+                      quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645"
+                      diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                    />
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh"
+                      contype="0" conaffinity="0" group="1" density="0" mesh="left_idx-F2" />
+                    <geom type="mesh" mesh="left_idx-F2_C" />
+                    <geom size="0.007" pos="0.03 -0.016 0" />
+                    <geom name="collision_hand_left_index_0" type="capsule" size="0.007"
+                      fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
+                      density="0" rgba="0 1 0 1" />
+                    <site name="left_index_tip" pos="0.03 -0.016 0" />
+                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0" />
+                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0" />
+                  </body>
+                </body>
+                <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634"
+                  quat="0.704562 0.0715738 -0.698395 -0.103508">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05"
+                    quat="-0.00406251 0.706621 0.00934715 0.707518" mass="0.00635888"
+                    diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                  />
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244" type="mesh" contype="0" conaffinity="0" group="1"
+                    density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom name="collision_hand_left_middle_1" type="sphere" size="0.01"
+                    pos="0.019 -0.0045 0" contype="0" conaffinity="0" group="3"
+                    density="0" rgba="0 1 0 1" />
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05"
+                      quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645"
+                      diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                    />
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh"
+                      contype="0" conaffinity="0" group="1" density="0" mesh="left_idx-F2" />
+                    <geom type="mesh" mesh="left_idx-F2_C" />
+                    <geom size="0.007" pos="0.03 -0.016 0" />
+                    <geom name="collision_hand_left_middle_0" type="capsule" size="0.007"
+                      fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
+                      density="0" rgba="0 1 0 1" />
+                    <site name="left_middle_tip" pos="0.03 -0.016 0" />
+                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0" />
+                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0" />
+                  </body>
+                </body>
+                <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038"
+                  quat="0.721351 0.0986547 -0.681173 -0.0769649">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05"
+                    quat="-0.00406251 0.706621 0.00934715 0.707518" mass="0.00635888"
+                    diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                  />
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244"
+                    type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
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+                    type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
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+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom name="collision_hand_left_ring_1" type="sphere" size="0.01"
+                    pos="0.019 -0.0045 0" contype="0" conaffinity="0" group="3"
+                    density="0" rgba="0 1 0 1" />
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05"
+                      quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645"
+                      diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                    />
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh"
+                      contype="0" conaffinity="0" group="1" density="0" mesh="left_idx-F2" />
+                    <geom type="mesh" mesh="left_idx-F2_C" />
+                    <geom size="0.007" pos="0.03 -0.016 0" />
+                    <geom name="collision_hand_left_ring_0" type="capsule" size="0.007"
+                      fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
+                      density="0" rgba="0 1 0 1" />
+                    <site name="left_ring_tip" pos="0.03 -0.016 0" />
+                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0" />
+                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0" />
+                  </body>
+                </body>
+                <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346"
+                  quat="0.719226 0.122363 -0.681748 -0.0544096">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05"
+                    quat="-0.00406251 0.706621 0.00934715 0.707518" mass="0.00635888"
+                    diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                  />
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244" type="mesh" contype="0" conaffinity="0" group="1"
+                    density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom name="collision_hand_left_pinky_1" type="sphere" size="0.01"
+                    pos="0.019 -0.0045 0" contype="0" conaffinity="0" group="3"
+                    density="0" rgba="0 1 0 1" />
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05"
+                      quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645"
+                      diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                    />
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh"
+                      contype="0" conaffinity="0" group="1" density="0" mesh="left_idx-F2" />
+                    <geom type="mesh" mesh="left_idx-F2_C" />
+                    <geom size="0.007" pos="0.03 -0.016 0" />
+                    <geom name="collision_hand_left_pinky_0" type="capsule" size="0.007"
+                      fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
+                      density="0" rgba="0 1 0 1" />
+                    <site name="left_pinky_tip" pos="0.03 -0.016 0" />
+                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0" />
+                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <!-- Global position and rotation joints -->
+    <position name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" kp="1000" />
+    <position name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" kp="1000" />
+    <position name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" kp="1000" />
+    <position name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" kp="1000" />
+    <position name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" kp="1000" />
+    <position name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" kp="1000" />
+
+    <!-- Thumb joints -->
+    <position name="left_thumb_q1_position" joint="left_thumb_q1" />
+    <position name="left_thumb_q2_position" joint="left_thumb_q2" />
+
+    <!-- Index joints -->
+    <position name="left_index_q1_position" joint="left_index_q1" />
+    <position name="left_index_q2_position" joint="left_index_q2" />
+
+    <!-- Middle joints -->
+    <position name="left_middle_q1_position" joint="left_middle_q1" />
+    <position name="left_middle_q2_position" joint="left_middle_q2" />
+
+    <!-- Ring joints -->
+    <position name="left_ring_q1_position" joint="left_ring_q1" />
+    <position name="left_ring_q2_position" joint="left_ring_q2" />
+
+    <!-- Pinky joints -->
+    <position name="left_pinky_q1_position" joint="left_pinky_q1" />
+    <position name="left_pinky_q2_position" joint="left_pinky_q2" />
+
+  </actuator>
+</mujoco>

processed/fair_fre/assets/robots/ability/meshes/collision/FB_palm_ref.obj

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processed/fair_fre/assets/robots/ability/meshes/collision/wristmesh_C.obj

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+# www.blender.org
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