The cube.urdf used by ShadowHand and AllegroHand have false property.

[Trinitro-Dopamine]

This is the cube.urdf file which was used in ShadowHand and AllegroHand training process.

<?xml version="1.0"?>
<robot name="object">
  <link name="object">
    <visual>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.05 0.05 0.05"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.05 0.05 0.05"/>
      </geometry>
    </collision>
     <inertial>
      <mass value="0.5"/>
      <inertia ixx="0.05" ixy="0.0" ixz="0.0" iyy="0.05" iyz="0.0" izz="0.05"/>
    </inertial>
  </link>
</robot>

I think the inertia ixx, ixy and izz was so much bigger than it should, the actual inertia should be about 0.000208 if mass was distributed equally within the cube , the original value was about 200 times bigger than it should, which mean the mass was distributed outside of the collision edge. Should change the inertia to
<inertia ixx="0.000208" ixy="0.0" ixz="0.0" iyy="0.000208" iyz="0.0" izz="0.000208"/>
Hope someone better at math could confirm.