fix: Real MuJoCo Physics Simulation for Dexterous Hand

[jiayongzhang6-rgb]

Changes

1. Fixed actuator configuration: Changed ctrlrange from [0,0] to proper values
2. Real physics simulation: Uses actual MuJoCo simulation, not random numbers
3. Proper benchmark: 128 trials with real collision detection and touch sensors

Results

• Closed-loop: 98.4% success rate (126/128 trials)
• Wilson CI: [94.5%, 99.5%]
• Mean ball lift: 0.053m
• Mean touch force: 0.395

Key Fixes

• Position actuators with kp=20 (not kp=100 which caused instability)
• Proper joint damping (0.3-0.5)
• Ball with slide joint for vertical movement
• Touch sensors for contact detection

Files

• five_finger_scene.xml: Fixed scene with proper actuators
• benchmark_real.py: Real MuJoCo benchmark (not random numbers)
• benchmark_results_real.json: Actual benchmark results
• demo.mp4: Real physics simulation video