hore: Update STL files in DexHand mesh directory.

- Delete file `assets/dexhand/meshes/r_a_link4.STL`
- Update the SHA256 hash of `r_f_link4_1.STL` and increase its size from 125384 to 291184
- Modify file `assets/dexhand/meshes/l_f_link2_3_1.STL` and update the `oid` and `size` attributes
- Update the `oid` and `size` metadata of `r_f_link5_2_2.STL`
- Update the `oid` and `size` metadata of `r_f_link5_3_1.STL`
- Increase the size of `l_f_link3_4.STL` from 1,122,884 bytes to 1,355,884 bytes
- Update the SHA256 hash and increase the size of `r_f_link3_1.STL` from 125384 bytes to 291184 bytes
- Update the `oid` and `size` metadata of `r_f_link4_2_2.STL`
- Update the `oid` and `size` values in `l_f_link4_4.STL`
- Update `file` `assets/dexhand/meshes/l_f_link2_4.STL`, change `oid`, and increase `size`

Author: Lei00764

DexHandEnv/cfg/task/DexCube.yaml

@@ -21,7 +21,7 @@ env:
 
   aggregateMode: 3
 
-  actionScale: 0.1
+  actionScale: 0.1 # complimentary control rather than absolute control
 
   # reward weights
   heightRewardScale: 30.0
@@ -39,7 +39,7 @@ env:
 
   asset:
     assetRoot: "../../assets"
-    assetFileNamedex: "dexhand/mjcf/dexhand021_right.xml"
+    assetFileNamedex: "dexhand/mjcf/dexhand021_right_floating.xml"
 
   # set to True if you use camera sensors in the environment
   enableCameraSensors: False

DexHandEnv/cfg/task/DexHand.yaml

@@ -54,7 +54,7 @@ env:
 
   asset:
     assetRoot: "../../assets"
-    assetFileNamedex: "dexhand/mjcf/floating_dex_hand.xml"
+    assetFileNamedex: "dexhand/mjcf/dexhand021_right_floating.xml"
     assetFileNameBlock: "dexhand/urdf/objects/cube_multicolor.urdf"
     assetFileNameEgg: "dexhand/mjcf/open_ai_assets/hand/egg.xml"
     assetFileNamePen: "dexhand/mjcf/open_ai_assets/hand/pen.xml"