diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8239b4118..a3cb79520 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -212,5 +212,5 @@ endif()
 set(MJPC_COMPILE_OPTIONS "${AVX_COMPILE_OPTIONS}" "${EXTRA_COMPILE_OPTIONS}")
 set(MJPC_LINK_OPTIONS "${EXTRA_LINK_OPTIONS}")
 
+add_definitions(-DSOURCE_DIR=\"${CMAKE_SOURCE_DIR}\")
 add_subdirectory(mjpc)
-
diff --git a/mjpc/CMakeLists.txt b/mjpc/CMakeLists.txt
index f8fb30c3e..f49c65e12 100644
--- a/mjpc/CMakeLists.txt
+++ b/mjpc/CMakeLists.txt
@@ -54,6 +54,8 @@ add_library(
   tasks/humanoid/interact/interact.h
   tasks/humanoid/interact/contact_keyframe.cc
   tasks/humanoid/interact/contact_keyframe.h
+  tasks/humanoid/interact/motion_strategy.cc
+  tasks/humanoid/interact/motion_strategy.h
   tasks/humanoid/stand/stand.cc
   tasks/humanoid/stand/stand.h
   tasks/humanoid/tracking/tracking.cc
@@ -163,6 +165,7 @@ target_link_libraries(
   mujoco::platform_ui_adapter
   threadpool
   Threads::Threads
+  nlohmann_json::nlohmann_json
 )
 target_include_directories(libmjpc
   PUBLIC
@@ -236,3 +239,7 @@ endif()
 if(MJPC_BUILD_GRPC_SERVICE)
   add_subdirectory(grpc)
 endif()
+
+include(FetchContent)
+FetchContent_Declare(json URL https://github.com/nlohmann/json/releases/download/v3.11.3/json.tar.xz)
+FetchContent_MakeAvailable(json)
\ No newline at end of file
diff --git a/mjpc/task.cc b/mjpc/task.cc
index 3c0ee3d91..4778337b5 100644
--- a/mjpc/task.cc
+++ b/mjpc/task.cc
@@ -202,6 +202,7 @@ void Task::Reset(const mjModel* model) {
 
   // loop over sensors
   int parameter_shift = 0;
+  weight_names.resize(num_term);
   for (int i = 0; i < num_term; i++) {
     // residual dimension
     num_residual += model->sensor_dim[i];
@@ -209,6 +210,7 @@ void Task::Reset(const mjModel* model) {
 
     // user data: [norm, weight, weight_lower, weight_upper, parameters...]
     double* s = model->sensor_user + i * model->nuser_sensor;
+    char* name = model->names + model->name_sensoradr[i];
 
     // check number of parameters
     int norm_parameter_dimension = NormParameterDimension(s[0]);
@@ -231,6 +233,7 @@ void Task::Reset(const mjModel* model) {
     }
 
     weight[i] = s[1];
+    weight_names[i] = name;
     num_norm_parameter[i] = norm_parameter_dimension;
     mju_copy(DataAt(norm_parameter, parameter_shift), s + 4,
              num_norm_parameter[i]);
diff --git a/mjpc/task.h b/mjpc/task.h
index 5f8d0cdc5..4579e00c1 100644
--- a/mjpc/task.h
+++ b/mjpc/task.h
@@ -139,6 +139,7 @@ class Task {
   std::vector<int> num_norm_parameter;
   std::vector<NormType> norm;
   std::vector<double> weight;
+  std::vector<std::string> weight_names;
   std::vector<double> norm_parameter;
   double risk;
 
diff --git a/mjpc/tasks/humanoid/interact/contact_keyframe.cc b/mjpc/tasks/humanoid/interact/contact_keyframe.cc
index b009d2e61..84a7ac375 100644
--- a/mjpc/tasks/humanoid/interact/contact_keyframe.cc
+++ b/mjpc/tasks/humanoid/interact/contact_keyframe.cc
@@ -27,6 +27,18 @@ void ContactPair::Reset() {
   }
 }
 
+void ContactPair::GetDistance(mjtNum distance[3], const mjData* data) const {
+  mjtNum selected_global_pos1[3] = {0.};
+  mju_mulMatVec(selected_global_pos1, data->xmat + 9 * body1, local_pos1, 3, 3);
+  mju_addTo3(selected_global_pos1, data->xpos + 3 * body1);
+
+  mjtNum selected_global_pos2[3] = {0.};
+  mju_mulMatVec(selected_global_pos2, data->xmat + 9 * body2, local_pos2, 3, 3);
+  mju_addTo3(selected_global_pos2, data->xpos + 3 * body2);
+
+  mju_sub3(distance, selected_global_pos1, selected_global_pos2);
+}
+
 void ContactKeyframe::Reset() {
   name.clear();
   for (auto& contact_pair : contact_pairs) contact_pair.Reset();
@@ -34,4 +46,42 @@ void ContactKeyframe::Reset() {
   facing_target.clear();
   weight.clear();
 }
+
+void to_json(json& j, const ContactPair& contact_pair) {
+  j = json{{"body1", contact_pair.body1},
+           {"body2", contact_pair.body2},
+           {"geom1", contact_pair.geom1},
+           {"geom2", contact_pair.geom2},
+           {"local_pos1", contact_pair.local_pos1},
+           {"local_pos2", contact_pair.local_pos2}};
+}
+
+void from_json(const json& j, ContactPair& contact_pair) {
+  j.at("body1").get_to(contact_pair.body1);
+  j.at("body2").get_to(contact_pair.body2);
+  j.at("geom1").get_to(contact_pair.geom1);
+  j.at("geom2").get_to(contact_pair.geom2);
+  j.at("local_pos1").get_to(contact_pair.local_pos1);
+  j.at("local_pos2").get_to(contact_pair.local_pos2);
+}
+
+void to_json(json& j, const ContactKeyframe& keyframe) {
+  j = json{{"name", keyframe.name},
+           {"contacts", keyframe.contact_pairs},
+           {"facing_target", keyframe.facing_target},
+           {"time_limit", keyframe.time_limit},
+           {"success_sustain_time", keyframe.success_sustain_time},
+           {"target_distance_tolerance", keyframe.target_distance_tolerance},
+           {"weight", keyframe.weight}};
+}
+
+void from_json(const json& j, ContactKeyframe& keyframe) {
+  j.at("name").get_to(keyframe.name);
+  j.at("contacts").get_to(keyframe.contact_pairs);
+  j.at("facing_target").get_to(keyframe.facing_target);
+  j.at("time_limit").get_to(keyframe.time_limit);
+  j.at("success_sustain_time").get_to(keyframe.success_sustain_time);
+  j.at("target_distance_tolerance").get_to(keyframe.target_distance_tolerance);
+  j.at("weight").get_to(keyframe.weight);
+}
 }  // namespace mjpc::humanoid
diff --git a/mjpc/tasks/humanoid/interact/contact_keyframe.h b/mjpc/tasks/humanoid/interact/contact_keyframe.h
index 53090f05f..8b3481140 100644
--- a/mjpc/tasks/humanoid/interact/contact_keyframe.h
+++ b/mjpc/tasks/humanoid/interact/contact_keyframe.h
@@ -21,12 +21,23 @@
 
 #include <mujoco/mujoco.h>
 
+#include "nlohmann/json.hpp"
+using json = nlohmann::json;
+
 namespace mjpc::humanoid {
 
 // ---------- Constants ----------------- //
 constexpr int kNotSelectedInteract = -1;
 constexpr int kNumberOfContactPairsInteract = 5;
 
+// ---------- Enums --------------------- //
+enum ContactKeyframeErrorType : int {
+  kMax = 0,
+  kMean = 1,
+  kSum = 2,
+  kNorm = 3,
+};
+
 class ContactPair {
  public:
   int body1, body2, geom1, geom2;
@@ -41,6 +52,9 @@ class ContactPair {
         local_pos2{0.} {}
 
   void Reset();
+
+  // populates the distance vector between the two contact points
+  void GetDistance(mjtNum distance[3], const mjData* data) const;
 };
 
 class ContactKeyframe {
@@ -54,11 +68,32 @@ class ContactKeyframe {
   // weight of all residual terms (name -> value map)
   std::map<std::string, mjtNum> weight;
 
-  ContactKeyframe() : name(""), contact_pairs{}, facing_target(), weight() {}
+  ContactKeyframe()
+      : name(""),
+        contact_pairs{},
+        facing_target(),
+        weight(),
+        time_limit(10.),
+        success_sustain_time(2.),
+        target_distance_tolerance(0.1) {}
 
   void Reset();
+
+  mjtNum time_limit;  // maximum time (in seconds) allowed for attempting a
+                      // single keyframe before resetting
+  mjtNum success_sustain_time;  // minimum time (in seconds) that the objective
+                                // needs to be satisfied within the distance
+                                // threshold to consider the keyframe successful
+  mjtNum target_distance_tolerance;  // the proximity to the keyframe objective
+                                     // that needs to be maintained for a
+                                     // certain time
 };
 
+void to_json(json& j, const ContactPair& contact_pair);
+void from_json(const json& j, ContactPair& contact_pair);
+void to_json(json& j, const ContactKeyframe& keyframe);
+void from_json(const json& j, ContactKeyframe& keyframe);
+
 }  // namespace mjpc::humanoid
 
 #endif  // MJPC_TASKS_HUMANOID_INTERACT_CONTACT_KEYFRAME_H_
diff --git a/mjpc/tasks/humanoid/interact/interact.cc b/mjpc/tasks/humanoid/interact/interact.cc
index a64b95854..b89ef6fc4 100644
--- a/mjpc/tasks/humanoid/interact/interact.cc
+++ b/mjpc/tasks/humanoid/interact/interact.cc
@@ -27,12 +27,12 @@ std::string Interact::XmlPath() const {
 }
 std::string Interact::Name() const { return "Humanoid Interact"; }
 
-// ------------------ Residuals for humanoid contact keyframes task ------------
+// --------------- Helper residual functions ----------------- //
 void Interact::ResidualFn::UpResidual(const mjModel* model, const mjData* data,
                                       double* residual, std::string&& name,
                                       int* counter) const {
   name.append("_up");
-  double* up_vector = SensorByName(model, data, name);
+  const double* up_vector = SensorByName(model, data, name);
   residual[(*counter)++] = mju_abs(up_vector[2] - 1.0);
 }
 
@@ -40,7 +40,7 @@ void Interact::ResidualFn::HeadHeightResidual(const mjModel* model,
                                               const mjData* data,
                                               double* residual,
                                               int* counter) const {
-  double head_height = SensorByName(model, data, "head_position")[2];
+  const double head_height = SensorByName(model, data, "head_position")[2];
   residual[(*counter)++] =
       mju_abs(head_height - parameters_[kHeadHeightParameterIndex]);
 }
@@ -49,7 +49,7 @@ void Interact::ResidualFn::TorsoHeightResidual(const mjModel* model,
                                                const mjData* data,
                                                double* residual,
                                                int* counter) const {
-  double torso_height = SensorByName(model, data, "torso_position")[2];
+  const double torso_height = SensorByName(model, data, "torso_position")[2];
   residual[(*counter)++] =
       mju_abs(torso_height - parameters_[kTorsoHeightParameterIndex]);
 }
@@ -58,19 +58,17 @@ void Interact::ResidualFn::KneeFeetXYResidual(const mjModel* model,
                                               const mjData* data,
                                               double* residual,
                                               int* counter) const {
-  double* knee_right = SensorByName(model, data, "knee_right");
-  double* knee_left = SensorByName(model, data, "knee_left");
-  double* foot_right = SensorByName(model, data, "foot_right");
-  double* foot_left = SensorByName(model, data, "foot_left");
+  const double* knee_right = SensorByName(model, data, "knee_right");
+  const double* knee_left = SensorByName(model, data, "knee_left");
+  const double* foot_right = SensorByName(model, data, "foot_right");
+  const double* foot_left = SensorByName(model, data, "foot_left");
 
   double knee_xy_avg[2] = {0.0};
-  mju_addTo(knee_xy_avg, knee_left, 2);
-  mju_addTo(knee_xy_avg, knee_right, 2);
+  mju_add(knee_xy_avg, knee_right, knee_left, 2);
   mju_scl(knee_xy_avg, knee_xy_avg, 0.5, 2);
 
   double foot_xy_avg[2] = {0.0};
-  mju_addTo(foot_xy_avg, foot_left, 2);
-  mju_addTo(foot_xy_avg, foot_right, 2);
+  mju_add(foot_xy_avg, foot_right, foot_left, 2);
   mju_scl(foot_xy_avg, foot_xy_avg, 0.5, 2);
 
   mju_subFrom(knee_xy_avg, foot_xy_avg, 2);
@@ -86,12 +84,11 @@ void Interact::ResidualFn::COMFeetXYResidual(const mjModel* model,
   double* com_position = SensorByName(model, data, "torso_subtreecom");
 
   double foot_xy_avg[2] = {0.0};
-  mju_addTo(foot_xy_avg, foot_left, 2);
-  mju_addTo(foot_xy_avg, foot_right, 2);
+  mju_add(foot_xy_avg, foot_right, foot_left, 2);
   mju_scl(foot_xy_avg, foot_xy_avg, 0.5, 2);
 
-  mju_subFrom(com_position, foot_xy_avg, 2);
-  residual[(*counter)++] = mju_norm(com_position, 2);
+  mju_subFrom(foot_xy_avg, com_position, 2);
+  residual[(*counter)++] = mju_norm(foot_xy_avg, 2);
 }
 
 void Interact::ResidualFn::FacingDirectionResidual(const mjModel* model,
@@ -105,8 +102,8 @@ void Interact::ResidualFn::FacingDirectionResidual(const mjModel* model,
 
   double* torso_forward = SensorByName(model, data, "torso_forward");
   double* torso_position = mjpc::SensorByName(model, data, "torso_position");
-  double target[2] = {0.};
 
+  double target[2] = {0.};
   mju_sub(target, residual_keyframe_.facing_target.data(), torso_position, 2);
   mju_normalize(target, 2);
   mju_subFrom(target, torso_forward, 2);
@@ -120,31 +117,49 @@ void Interact::ResidualFn::ContactResidual(const mjModel* model,
     const ContactPair& contact = residual_keyframe_.contact_pairs[i];
     if (contact.body1 != kNotSelectedInteract &&
         contact.body2 != kNotSelectedInteract) {
-      mjtNum tmp1[3];
-      mjtNum selected_global_pos1[3];
-      mju_mulMatVec(tmp1, data->xmat + 9 * contact.body1, contact.local_pos1, 3,
-                    3);
-      mju_add3(selected_global_pos1, tmp1, data->xpos + 3 * contact.body1);
-
-      mjtNum tmp2[3];
-      mjtNum selected_global_pos2[3];
-      mju_mulMatVec(tmp2, data->xmat + 9 * contact.body2, contact.local_pos2, 3,
-                    3);
-      mju_add3(selected_global_pos2, tmp2, data->xpos + 3 * contact.body2);
-
       double dist[3] = {0.};
-      mju_addTo(dist, selected_global_pos1, 3);
-      mju_subFrom(dist, selected_global_pos2, 3);
-      residual[(*counter)++] = mju_abs(dist[0]);
-      residual[(*counter)++] = mju_abs(dist[1]);
-      residual[(*counter)++] = mju_abs(dist[2]);
+      contact.GetDistance(dist, data);
+      for (int j = 0; j < 3; j++) residual[(*counter)++] = mju_abs(dist[j]);
     } else {
       for (int j = 0; j < 3; j++) residual[(*counter)++] = 0;
     }
   }
 }
 
-// ------------------ Residuals for humanoid interaction task ------------
+void Interact::SaveParamsToKeyframe(ContactKeyframe& kf) const {
+  for (int i = 0; i < weight_names.size(); i++) {
+    kf.weight[weight_names[i]] = weight[i];
+  }
+  kf.target_distance_tolerance = parameters[kDistanceToleranceParameterIndex];
+  kf.time_limit = parameters[kTimeLimitParameterIndex];
+  kf.success_sustain_time = parameters[kSustainTimeParameterIndex];
+}
+
+void Interact::LoadParamsFromKeyframe(const ContactKeyframe& kf) {
+  ContactKeyframe current_keyframe = motion_strategy_.GetCurrentKeyframe();
+  weight.clear();
+  int index = 0;
+  for (auto& w : weight_names) {
+    if (kf.weight.find(w) != kf.weight.end()) {
+      weight.push_back(kf.weight.at(w));
+    } else {
+      double default_weight =
+          default_weights[residual_.current_task_mode_][index];
+      std::printf(
+          "Keyframe %s does not have weight for %s, set default %.1f.\n",
+          kf.name.c_str(), w.c_str(), default_weight);
+      weight.push_back(default_weight);
+    }
+    current_keyframe.weight[w] = weight[index];
+    index++;
+  }
+  current_keyframe.name = kf.name;
+  parameters[kDistanceToleranceParameterIndex] = kf.target_distance_tolerance;
+  parameters[kTimeLimitParameterIndex] = kf.time_limit;
+  parameters[kSustainTimeParameterIndex] = kf.success_sustain_time;
+}
+
+// ---------------- Residuals for humanoid interaction task ----------- //
 //   Number of residuals: 13
 //     Residual (0): Torso up
 //     Residual (1): Pelvis up
@@ -162,7 +177,7 @@ void Interact::ResidualFn::ContactResidual(const mjModel* model,
 //   Number of parameters: 2
 //     Parameter (0): head_height_goal
 //     Parameter (1): torso_height_goal
-// ----------------------------------------------------------------
+// -------------------------------------------------------------------- //
 void Interact::ResidualFn::Residual(const mjModel* model, const mjData* data,
                                     double* residual) const {
   int counter = 0;
@@ -199,46 +214,78 @@ void Interact::ResidualFn::Residual(const mjModel* model, const mjData* data,
   CheckSensorDim(model, counter);
 }
 
-// -------- Transition for interaction task --------
+// -------- Transition for interaction task -------- //
 void Interact::TransitionLocked(mjModel* model, mjData* data) {
-  //   If the task mode is changed, sync it with the residual here
+  //  If the task mode is changed, sync it with the residual here
   if (residual_.current_task_mode_ != mode) {
     residual_.current_task_mode_ = (TaskMode)mode;
     weight = default_weights[residual_.current_task_mode_];
   }
+
+  //  If the motion strategy is not initialized, load the given strategy
+  if (!motion_strategy_.HasKeyframes()) {
+    motion_strategy_.LoadStrategy("armchair_cross_leg");
+    LoadParamsFromKeyframe(motion_strategy_.GetCurrentKeyframe());
+    return;
+  }
+
+  const ContactKeyframe& current_keyframe =
+      motion_strategy_.GetCurrentKeyframe();
+  const double total_distance = motion_strategy_.CalculateTotalKeyframeDistance(
+      data, ContactKeyframeErrorType::kNorm);
+
+  if (data->time - motion_strategy_.GetCurrentKeyframeStartTime() >
+          current_keyframe.time_limit &&
+      total_distance > current_keyframe.target_distance_tolerance) {
+    // timelimit reached but distance criteria not reached, reset
+    motion_strategy_.Reset();
+    LoadParamsFromKeyframe(motion_strategy_.GetCurrentKeyframe());
+    residual_.residual_keyframe_ = motion_strategy_.GetCurrentKeyframe();
+    motion_strategy_.SetCurrentKeyframeStartTime(data->time);
+  } else if (total_distance <= current_keyframe.target_distance_tolerance &&
+             data->time -
+                     motion_strategy_.GetCurrentKeyframeSuccessStartTime() >
+                 current_keyframe.success_sustain_time) {
+    // success criteria reached, go to the next keyframe
+    motion_strategy_.NextKeyframe();
+    LoadParamsFromKeyframe(motion_strategy_.GetCurrentKeyframe());
+    residual_.residual_keyframe_ = motion_strategy_.GetCurrentKeyframe();
+  } else if (total_distance > current_keyframe.target_distance_tolerance) {
+    // keyframe error is more than tolerance, update the success start time
+    motion_strategy_.SetCurrentKeyframeSuccessStartTime(data->time);
+  }
+  SaveParamsToKeyframe(motion_strategy_.GetCurrentKeyframe());
 }
 
 // draw task-related geometry in the scene
 void Interact::ModifyScene(const mjModel* model, const mjData* data,
                            mjvScene* scene) const {
   // add visuals for the contact points
+  mjtNum global_pos[3] = {0.};
   for (int i = 0; i < kNumberOfContactPairsInteract; i++) {
-    double sz[3] = {0.03};
     const ContactPair contact = residual_.residual_keyframe_.contact_pairs[i];
     if (contact.body1 != kNotSelectedInteract) {
-      mjtNum global[3];
-      mju_mulMatVec(global, data->xmat + 9 * contact.body1, contact.local_pos1,
-                    3, 3);
-      mju_addTo(global, data->xpos + 3 * contact.body1, 3);
-      AddGeom(scene, mjGEOM_SPHERE, sz, global, nullptr,
-              CONTACT_POINTS_COLOR[i]);
+      mju_mulMatVec(global_pos, data->xmat + 9 * contact.body1,
+                    contact.local_pos1, 3, 3);
+      mju_addTo(global_pos, data->xpos + 3 * contact.body1, 3);
+      AddGeom(scene, mjGEOM_SPHERE, kVisualPointSize, global_pos, nullptr,
+              kContactPairColor[i]);
     }
     if (contact.body2 != kNotSelectedInteract) {
-      mjtNum global[3];
-      mju_mulMatVec(global, data->xmat + 9 * contact.body2, contact.local_pos2,
-                    3, 3);
-      mju_addTo(global, data->xpos + 3 * contact.body2, 3);
-      AddGeom(scene, mjGEOM_SPHERE, sz, global, nullptr,
-              CONTACT_POINTS_COLOR[i]);
+      mju_mulMatVec(global_pos, data->xmat + 9 * contact.body2,
+                    contact.local_pos2, 3, 3);
+      mju_addTo(global_pos, data->xpos + 3 * contact.body2, 3);
+      AddGeom(scene, mjGEOM_SPHERE, kVisualPointSize, global_pos, nullptr,
+              kContactPairColor[i]);
     }
   }
 
   // add visuals for the facing direction
   if (!residual_.residual_keyframe_.facing_target.empty()) {
-    double sz[3] = {0.02};
     mjtNum pos[3] = {residual_.residual_keyframe_.facing_target[0],
                      residual_.residual_keyframe_.facing_target[1], 0};
-    AddGeom(scene, mjGEOM_SPHERE, sz, pos, nullptr, FACING_DIRECTION_COLOR);
+    AddGeom(scene, mjGEOM_SPHERE, kVisualPointSize, pos, nullptr,
+            kFacingDirectionColor);
   }
 }
 
diff --git a/mjpc/tasks/humanoid/interact/interact.h b/mjpc/tasks/humanoid/interact/interact.h
index df8eb2a20..2c5de834d 100644
--- a/mjpc/tasks/humanoid/interact/interact.h
+++ b/mjpc/tasks/humanoid/interact/interact.h
@@ -22,13 +22,17 @@
 
 #include "mjpc/task.h"
 #include "mjpc/tasks/humanoid/interact/contact_keyframe.h"
+#include "mjpc/tasks/humanoid/interact/motion_strategy.h"
 
 namespace mjpc::humanoid {
 
 // ---------- Constants ----------------- //
+constexpr int kNumberOfFreeJoints = 0;
 constexpr int kHeadHeightParameterIndex = 0;
 constexpr int kTorsoHeightParameterIndex = 1;
-constexpr int kNumberOfFreeJoints = 0;
+constexpr int kDistanceToleranceParameterIndex = 2;
+constexpr int kTimeLimitParameterIndex = 3;
+constexpr int kSustainTimeParameterIndex = 4;
 
 // ---------- Enums ----------------- //
 enum TaskMode : int {
@@ -47,14 +51,15 @@ const std::vector<std::vector<double>> default_weights = {
 };
 
 // ----------- Default colors for the contact pair points ------------ //
-constexpr float CONTACT_POINTS_COLOR[kNumberOfContactPairsInteract][4] = {
+constexpr float kContactPairColor[kNumberOfContactPairsInteract][4] = {
     {0., 0., 1., 0.8},  // blue
     {0., 1., 0., 0.8},  // green
     {0., 1., 1., 0.8},  // cyan
     {1., 0., 0., 0.8},  // red
     {1., 0., 1., 0.8},  // magenta
 };
-constexpr float FACING_DIRECTION_COLOR[] = {1., 1., 1., 0.8};
+constexpr float kFacingDirectionColor[] = {1., 1., 1., 0.8};
+constexpr double kVisualPointSize[3] = {0.02};
 
 class Interact : public Task {
  public:
@@ -120,6 +125,10 @@ class Interact : public Task {
 
  private:
   ResidualFn residual_;
+  MotionStrategy motion_strategy_;
+
+  void SaveParamsToKeyframe(ContactKeyframe& kf) const;
+  void LoadParamsFromKeyframe(const ContactKeyframe& kf);
 
   // draw task-related geometry in the scene
   void ModifyScene(const mjModel* model, const mjData* data,
diff --git a/mjpc/tasks/humanoid/interact/motion_strategy.cc b/mjpc/tasks/humanoid/interact/motion_strategy.cc
new file mode 100644
index 000000000..22916ed30
--- /dev/null
+++ b/mjpc/tasks/humanoid/interact/motion_strategy.cc
@@ -0,0 +1,147 @@
+// Copyright 2022 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "mjpc/tasks/humanoid/interact/motion_strategy.h"
+
+#include "mjpc/utilities.h"
+
+namespace mjpc::humanoid {
+
+void MotionStrategy::Clear() {
+  contact_keyframes_.clear();
+  contact_keyframes_[current_keyframe_index_].Reset();
+  current_keyframe_index_ = 0;
+}
+
+void MotionStrategy::Reset() { current_keyframe_index_ = 0; }
+
+int MotionStrategy::NextKeyframe() {
+  current_keyframe_index_ =
+      (current_keyframe_index_ + 1) % contact_keyframes_.size();
+  return current_keyframe_index_;
+}
+
+void MotionStrategy::ClearKeyframes() {
+  contact_keyframes_.clear();
+  current_keyframe_index_ = 0;
+}
+
+double MotionStrategy::CalculateTotalKeyframeDistance(
+    const mjData* data, const ContactKeyframeErrorType error_type) const {
+  double error[kNumberOfContactPairsInteract] = {0.};
+
+  // iterate through all pairs
+  for (int i = 0; i < kNumberOfContactPairsInteract; i++) {
+    const ContactPair& contact =
+        contact_keyframes_[current_keyframe_index_].contact_pairs[i];
+    if (contact.body1 != kNotSelectedInteract &&
+        contact.body2 != kNotSelectedInteract) {
+      double dist[3] = {0.};
+      contact.GetDistance(dist, data);
+      error[i] = mju_norm3(dist);
+    }
+  }
+
+  double total_error = 0.;
+  switch (error_type) {
+    case ContactKeyframeErrorType::kMax:
+      total_error =
+          *std::max_element(error, error + kNumberOfContactPairsInteract);
+      break;
+    case ContactKeyframeErrorType::kMean:
+      total_error =
+          std::accumulate(error, error + kNumberOfContactPairsInteract,
+                          kNumberOfContactPairsInteract) /
+          kNumberOfContactPairsInteract;
+      break;
+    case ContactKeyframeErrorType::kSum:
+      total_error =
+          std::accumulate(error, error + kNumberOfContactPairsInteract,
+                          kNumberOfContactPairsInteract);
+      break;
+    case ContactKeyframeErrorType::kNorm:
+    default:
+      total_error = mju_norm(error, kNumberOfContactPairsInteract);
+      break;
+  }
+  return total_error;
+}
+
+bool MotionStrategy::SaveStrategy(const std::string& name,
+                                  const std::string& path) {
+  std::string filename(path);
+  filename.append(name);
+  filename.append(".json");
+
+  try {
+    json json_keyframes = json::array();
+    json json_kf;
+    for (auto& kf: contact_keyframes_) {
+      to_json(json_kf, kf);
+      json_keyframes.push_back(json_kf);
+    }
+
+    std::ofstream of(filename);
+    if (!of.is_open()) {
+      std::printf("\nFailed to open file %s", filename.c_str());
+      return false;
+    }
+    of << std::setw(4) << json_keyframes << std::endl;
+    of.close();
+    std::printf("\nKeyframe sequence saved as %s", filename.c_str());
+    return true;
+  } catch (const std::exception &e) {
+    std::cerr << e.what() << '\n';
+    return false;
+  }
+}
+
+bool MotionStrategy::LoadStrategy(const std::string& name,
+                                  const std::string& path) {
+  std::string filename(path);
+  filename.append(name);
+  filename.append(".json");
+  try {
+    std::ifstream file(filename);
+    if (!file.good()) {
+      std::printf("\nFile %s does not exist", filename.c_str());
+      return false;
+    }
+    contact_keyframes_.clear();
+    json json_keyframes = json::parse(file);
+    ContactKeyframe kf;
+    for (auto& json_kf: json_keyframes) {
+      from_json(json_kf, kf);
+      contact_keyframes_.push_back(kf);
+    }
+
+    current_keyframe_index_ = 0;
+    std::printf("\nKeyframe sequence loaded from %s", filename.c_str());
+    return true;
+  } catch (const std::exception &e) {
+    std::cerr << e.what() << '\n';
+    return false;
+  }
+}
+
+void to_json(json& j, const MotionStrategy& strategy) {
+  j = json{{"contact_keyframes", strategy.GetContactKeyframes()}};
+}
+
+void from_json(const json& j, MotionStrategy& strategy) {
+  strategy.SetContactKeyframes(
+      j.at("contact_keyframes").get<std::vector<ContactKeyframe>>());
+}
+
+}  // namespace mjpc::humanoid
diff --git a/mjpc/tasks/humanoid/interact/motion_strategy.h b/mjpc/tasks/humanoid/interact/motion_strategy.h
new file mode 100644
index 000000000..548756321
--- /dev/null
+++ b/mjpc/tasks/humanoid/interact/motion_strategy.h
@@ -0,0 +1,102 @@
+// Copyright 2022 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MJPC_TASKS_HUMANOID_INTERACT_MOTION_STRATEGY_H_
+#define MJPC_TASKS_HUMANOID_INTERACT_MOTION_STRATEGY_H_
+
+#include <mujoco/mujoco.h>
+
+#include <filesystem>
+#include <fstream>
+#include <string>
+#include <vector>
+
+#include "mjpc/tasks/humanoid/interact/contact_keyframe.h"
+#include "nlohmann/json.hpp"
+using json = nlohmann::json;
+
+namespace mjpc::humanoid {
+
+constexpr char kMotionStrategyFilePath[] =
+    SOURCE_DIR "/mjpc/tasks/humanoid/interact/strategies/";
+
+/*
+This class holds the motion strategy, e.g. given a sequence of keyframes, it
+manages the initial and current state and any changes to the sequence.
+*/
+class MotionStrategy {
+ public:
+  MotionStrategy() = default;
+  ~MotionStrategy() = default;
+
+  explicit MotionStrategy(const std::vector<ContactKeyframe>& keyframes)
+      : contact_keyframes_(keyframes), current_keyframe_index_(0) {}
+
+  void Reset();
+  void Clear();
+
+  bool HasKeyframes() const { return !contact_keyframes_.empty(); }
+  ContactKeyframe& GetCurrentKeyframe() {
+    return contact_keyframes_[current_keyframe_index_];
+  }
+  const ContactKeyframe& GetCurrentKeyframe() const {
+    return contact_keyframes_[current_keyframe_index_];
+  }
+  const int GetCurrentKeyframeIndex() const { return current_keyframe_index_; }
+  const std::vector<ContactKeyframe>& GetContactKeyframes() const {
+    return contact_keyframes_;
+  }
+  const int GetKeyframesCount() const { return contact_keyframes_.size(); }
+  const mjtNum GetCurrentKeyframeStartTime() const {
+    return current_keyframe_start_time_;
+  }
+  void SetCurrentKeyframeStartTime(const mjtNum start_time) {
+    current_keyframe_start_time_ = start_time;
+  }
+  const mjtNum GetCurrentKeyframeSuccessStartTime() const {
+    return current_keyframe_success_start_time_;
+  }
+  void SetCurrentKeyframeSuccessStartTime(const mjtNum start_time) {
+    current_keyframe_success_start_time_ = start_time;
+  }
+  void UpdateCurrentKeyframe(const int index) {
+    current_keyframe_index_ = index;
+  }
+  void SetContactKeyframes(const std::vector<ContactKeyframe>& keyframes) {
+    contact_keyframes_ = keyframes;
+  }
+  bool SaveStrategy(const std::string& name,
+                    const std::string& path = kMotionStrategyFilePath);
+  bool LoadStrategy(const std::string& name,
+                    const std::string& path = kMotionStrategyFilePath);
+
+  int NextKeyframe();
+  void ClearKeyframes();
+
+  double CalculateTotalKeyframeDistance(
+      const mjData* data, const ContactKeyframeErrorType error_type =
+                              ContactKeyframeErrorType::kNorm) const;
+
+ private:
+  std::vector<ContactKeyframe> contact_keyframes_;
+  int current_keyframe_index_;
+  mjtNum current_keyframe_start_time_;
+  mjtNum current_keyframe_success_start_time_;
+};
+
+void to_json(json& j, const MotionStrategy& strategy);
+void from_json(const json& j, MotionStrategy& strategy);
+}  // namespace mjpc::humanoid
+
+#endif  // MJPC_TASKS_HUMANOID_INTERACT_MOTION_STRATEGY_H_
diff --git a/mjpc/tasks/humanoid/interact/strategies/armchair_cross_leg.json b/mjpc/tasks/humanoid/interact/strategies/armchair_cross_leg.json
new file mode 100644
index 000000000..64a70fb63
--- /dev/null
+++ b/mjpc/tasks/humanoid/interact/strategies/armchair_cross_leg.json
@@ -0,0 +1,737 @@
+[
+    {
+        "contacts": [
+            {
+                "body1": 4,
+                "body2": 21,
+                "geom1": 5,
+                "geom2": 20,
+                "local_pos1": [
+                    -0.084515,
+                    -0.003438,
+                    -0.062752
+                ],
+                "local_pos2": [
+                    -0.077371,
+                    0.042382,
+                    0.17
+                ]
+            },
+            {
+                "body1": -1,
+                "body2": -1,
+                "geom1": -1,
+                "geom2": -1,
+                "local_pos1": [
+                    -0.061753,
+                    -0.020781,
+                    -0.032963
+                ],
+                "local_pos2": [
+                    -0.368475,
+                    -0.015674,
+                    0.54212
+                ]
+            },
+            {
+                "body1": 7,
+                "body2": 0,
+                "geom1": 9,
+                "geom2": 0,
+                "local_pos1": [
+                    0.058889,
+                    0.014053,
+                    -0.02573
+                ],
+                "local_pos2": [
+                    0.059334,
+                    -0.217544,
+                    0.0
+                ]
+            },
+            {
+                "body1": 12,
+                "body2": 0,
+                "geom1": 12,
+                "geom2": 0,
+                "local_pos1": [
+                    0.066571,
+                    -0.012282,
+                    -0.0248
+                ],
+                "local_pos2": [
+                    0.088113,
+                    0.237827,
+                    0.0
+                ]
+            },
+            {
+                "body1": -1,
+                "body2": -1,
+                "geom1": -1,
+                "geom2": -1,
+                "local_pos1": [
+                    -0.08998,
+                    0.011944,
+                    -0.056593
+                ],
+                "local_pos2": [
+                    0.0,
+                    0.0,
+                    0.0
+                ]
+            }
+        ],
+        "facing_target": [],
+        "name": "armchair1",
+        "success_sustain_time": 1.0,
+        "target_distance_tolerance": 0.1,
+        "time_limit": 5.0,
+        "weight": {
+            "COM Feet XY": 0.0,
+            "CoM Vel.": 10.0,
+            "Contact": 100.0,
+            "Control": 0.8,
+            "Facing Dir": 0.0,
+            "Head Height": 0.0,
+            "Joint Vel.": 0.01,
+            "Knee Feet XY": 30.0,
+            "LFoot Up": 5.0,
+            "Pelvis Up": 35.0,
+            "RFoot Up": 5.0,
+            "Torse Target": 0.0,
+            "Torso Height": 20.0,
+            "Torso Up": 33.5
+        }
+    },
+    {
+        "contacts": [
+            {
+                "body1": 4,
+                "body2": 21,
+                "geom1": 5,
+                "geom2": 20,
+                "local_pos1": [
+                    -0.084515,
+                    -0.003438,
+                    -0.062752
+                ],
+                "local_pos2": [
+                    -0.092556,
+                    0.029488,
+                    0.17
+                ]
+            },
+            {
+                "body1": 19,
+                "body2": 21,
+                "geom1": 18,
+                "geom2": 23,
+                "local_pos1": [
+                    0.064681,
+                    -0.020846,
+                    0.043366
+                ],
+                "local_pos2": [
+                    0.071386,
+                    0.337136,
+                    0.4
+                ]
+            },
+            {
+                "body1": 7,
+                "body2": 0,
+                "geom1": 9,
+                "geom2": 0,
+                "local_pos1": [
+                    0.058889,
+                    0.014053,
+                    -0.02573
+                ],
+                "local_pos2": [
+                    0.095554,
+                    -0.013252,
+                    0.0
+                ]
+            },
+            {
+                "body1": 11,
+                "body2": 5,
+                "geom1": 11,
+                "geom2": 6,
+                "local_pos1": [
+                    -0.043389,
+                    0.022768,
+                    -0.192149
+                ],
+                "local_pos2": [
+                    0.038766,
+                    -0.021936,
+                    -0.372823
+                ]
+            },
+            {
+                "body1": -1,
+                "body2": -1,
+                "geom1": -1,
+                "geom2": -1,
+                "local_pos1": [
+                    -0.08998,
+                    0.011944,
+                    -0.056593
+                ],
+                "local_pos2": [
+                    0.0,
+                    0.0,
+                    0.0
+                ]
+            }
+        ],
+        "facing_target": [],
+        "name": "cross_leg2",
+        "success_sustain_time": 0.1,
+        "target_distance_tolerance": 0.15,
+        "time_limit": 5.0,
+        "weight": {
+            "COM Feet XY": 0.0,
+            "CoM Vel.": 10.0,
+            "Contact": 100.0,
+            "Control": 0.8,
+            "Facing Dir": 0.0,
+            "Head Height": 0.0,
+            "Joint Vel.": 0.01,
+            "Knee Feet XY": 0.0,
+            "LFoot Up": 2.0,
+            "Pelvis Up": 30.0,
+            "RFoot Up": 6.0,
+            "Torse Target": 0.0,
+            "Torso Height": 11.0,
+            "Torso Up": 15.0
+        }
+    },
+    {
+        "contacts": [
+            {
+                "body1": 4,
+                "body2": 21,
+                "geom1": 5,
+                "geom2": 20,
+                "local_pos1": [
+                    -0.084515,
+                    -0.003438,
+                    -0.062752
+                ],
+                "local_pos2": [
+                    -0.092556,
+                    0.029488,
+                    0.17
+                ]
+            },
+            {
+                "body1": 19,
+                "body2": 21,
+                "geom1": 18,
+                "geom2": 23,
+                "local_pos1": [
+                    0.021537272060050648,
+                    -0.004767054472087867,
+                    -0.018293243619553066
+                ],
+                "local_pos2": [
+                    -0.09448593902482194,
+                    0.34203181769059077,
+                    0.4000000000000001
+                ]
+            },
+            {
+                "body1": 7,
+                "body2": 0,
+                "geom1": 9,
+                "geom2": 0,
+                "local_pos1": [
+                    0.058889,
+                    0.014053,
+                    -0.02573
+                ],
+                "local_pos2": [
+                    0.095554,
+                    -0.013252,
+                    0.0
+                ]
+            },
+            {
+                "body1": 11,
+                "body2": 5,
+                "geom1": 11,
+                "geom2": 6,
+                "local_pos1": [
+                    -0.048367,
+                    0.00785,
+                    -0.062881
+                ],
+                "local_pos2": [
+                    0.038766,
+                    -0.021936,
+                    -0.372823
+                ]
+            },
+            {
+                "body1": -1,
+                "body2": -1,
+                "geom1": -1,
+                "geom2": -1,
+                "local_pos1": [
+                    -0.08998,
+                    0.011944,
+                    -0.056593
+                ],
+                "local_pos2": [
+                    0.0,
+                    0.0,
+                    0.0
+                ]
+            }
+        ],
+        "facing_target": [],
+        "name": "cross_leg3",
+        "success_sustain_time": 1.5,
+        "target_distance_tolerance": 0.15,
+        "time_limit": 5.0,
+        "weight": {
+            "COM Feet XY": 0.0,
+            "CoM Vel.": 10.0,
+            "Contact": 100.0,
+            "Control": 0.8,
+            "Facing Dir": 0.0,
+            "Head Height": 0.0,
+            "Joint Vel.": 0.01,
+            "Knee Feet XY": 0.0,
+            "LFoot Up": 2.0,
+            "Pelvis Up": 30.0,
+            "RFoot Up": 6.0,
+            "Torse Target": 0.0,
+            "Torso Height": 11.0,
+            "Torso Up": 15.0
+        }
+    },
+    {
+        "contacts": [
+            {
+                "body1": 4,
+                "body2": 21,
+                "geom1": 5,
+                "geom2": 20,
+                "local_pos1": [
+                    -0.084515,
+                    -0.003438,
+                    -0.062752
+                ],
+                "local_pos2": [
+                    -0.08014673480749479,
+                    -0.03976267195304996,
+                    0.17000000000000032
+                ]
+            },
+            {
+                "body1": -1,
+                "body2": -1,
+                "geom1": -1,
+                "geom2": -1,
+                "local_pos1": [
+                    -0.061753,
+                    -0.020781,
+                    -0.032963
+                ],
+                "local_pos2": [
+                    -0.368475,
+                    -0.015674,
+                    0.54212
+                ]
+            },
+            {
+                "body1": 7,
+                "body2": 0,
+                "geom1": 9,
+                "geom2": 0,
+                "local_pos1": [
+                    0.058889,
+                    0.014053,
+                    -0.02573
+                ],
+                "local_pos2": [
+                    0.059334,
+                    -0.217544,
+                    0.0
+                ]
+            },
+            {
+                "body1": 12,
+                "body2": 0,
+                "geom1": 12,
+                "geom2": 0,
+                "local_pos1": [
+                    0.066571,
+                    -0.012282,
+                    -0.0248
+                ],
+                "local_pos2": [
+                    0.088113,
+                    0.237827,
+                    0.0
+                ]
+            },
+            {
+                "body1": -1,
+                "body2": -1,
+                "geom1": -1,
+                "geom2": -1,
+                "local_pos1": [
+                    -0.08998,
+                    0.011944,
+                    -0.056593
+                ],
+                "local_pos2": [
+                    0.0,
+                    0.0,
+                    0.0
+                ]
+            }
+        ],
+        "facing_target": [],
+        "name": "armchair1",
+        "success_sustain_time": 2,
+        "target_distance_tolerance": 0.1,
+        "time_limit": 5.0,
+        "weight": {
+            "COM Feet XY": 0.0,
+            "CoM Vel.": 10.0,
+            "Contact": 100.0,
+            "Control": 0.8,
+            "Facing Dir": 0.0,
+            "Head Height": 0.0,
+            "Joint Vel.": 0.01,
+            "Knee Feet XY": 30.0,
+            "LFoot Up": 5.0,
+            "Pelvis Up": 31.5,
+            "RFoot Up": 5.0,
+            "Torse Target": 0.0,
+            "Torso Height": 20.0,
+            "Torso Up": 31.5
+        }
+    },
+    {
+        "contacts": [
+            {
+                "body1": 4,
+                "body2": 21,
+                "geom1": 5,
+                "geom2": 20,
+                "local_pos1": [
+                    -0.084515,
+                    -0.003438,
+                    -0.062752
+                ],
+                "local_pos2": [
+                    -0.092556,
+                    0.029488,
+                    0.17
+                ]
+            },
+            {
+                "body1": 16,
+                "body2": 21,
+                "geom1": 15,
+                "geom2": 24,
+                "local_pos1": [
+                    0.039681060012276254,
+                    0.018789468493973872,
+                    -0.004143711957572487
+                ],
+                "local_pos2": [
+                    0.06069253443111744,
+                    -0.3490693397120561,
+                    0.4000000000000001
+                ]
+            },
+            {
+                "body1": 12,
+                "body2": 0,
+                "geom1": 12,
+                "geom2": 0,
+                "local_pos1": [
+                    0.07272529036074993,
+                    -0.0029474710441867325,
+                    -0.017509945740931912
+                ],
+                "local_pos2": [
+                    0.095554,
+                    -0.013252,
+                    0.0
+                ]
+            },
+            {
+                "body1": 6,
+                "body2": 10,
+                "geom1": 7,
+                "geom2": 10,
+                "local_pos1": [
+                    -0.04898023184503099,
+                    -0.0013917213825888515,
+                    -0.178876283210221
+                ],
+                "local_pos2": [
+                    0.031124442999517297,
+                    0.03747898359476125,
+                    -0.3594168783479228
+                ]
+            },
+            {
+                "body1": -1,
+                "body2": -1,
+                "geom1": -1,
+                "geom2": -1,
+                "local_pos1": [
+                    -0.08998,
+                    0.011944,
+                    -0.056593
+                ],
+                "local_pos2": [
+                    0.0,
+                    0.0,
+                    0.0
+                ]
+            }
+        ],
+        "facing_target": [],
+        "name": "cross_leg_r2",
+        "success_sustain_time": 0.1,
+        "target_distance_tolerance": 0.15,
+        "time_limit": 5.0,
+        "weight": {
+            "COM Feet XY": 0.0,
+            "CoM Vel.": 10.0,
+            "Contact": 100.0,
+            "Control": 0.8,
+            "Facing Dir": 0.0,
+            "Head Height": 0.0,
+            "Joint Vel.": 0.01,
+            "Knee Feet XY": 0.0,
+            "LFoot Up": 6.5,
+            "Pelvis Up": 30.0,
+            "RFoot Up": 2.5,
+            "Torse Target": 0.0,
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\ No newline at end of file
diff --git a/mjpc/tasks/humanoid/interact/strategies/armchair_relax.json b/mjpc/tasks/humanoid/interact/strategies/armchair_relax.json
new file mode 100644
index 000000000..d8da83ea4
--- /dev/null
+++ b/mjpc/tasks/humanoid/interact/strategies/armchair_relax.json
@@ -0,0 +1,737 @@
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\ No newline at end of file
diff --git a/mjpc/tasks/humanoid/interact/strategies/bench_lie_down_get_up.json b/mjpc/tasks/humanoid/interact/strategies/bench_lie_down_get_up.json
new file mode 100644
index 000000000..cf41464ae
--- /dev/null
+++ b/mjpc/tasks/humanoid/interact/strategies/bench_lie_down_get_up.json
@@ -0,0 +1,522 @@
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\ No newline at end of file
diff --git a/mjpc/tasks/humanoid/interact/strategies/bench_shuffle.json b/mjpc/tasks/humanoid/interact/strategies/bench_shuffle.json
new file mode 100644
index 000000000..0a33b47d0
--- /dev/null
+++ b/mjpc/tasks/humanoid/interact/strategies/bench_shuffle.json
@@ -0,0 +1,522 @@
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\ No newline at end of file
diff --git a/mjpc/tasks/humanoid/interact/strategies/stand_sit_stand.json b/mjpc/tasks/humanoid/interact/strategies/stand_sit_stand.json
new file mode 100644
index 000000000..ef2a69f19
--- /dev/null
+++ b/mjpc/tasks/humanoid/interact/strategies/stand_sit_stand.json
@@ -0,0 +1,629 @@
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\ No newline at end of file
diff --git a/mjpc/tasks/humanoid/interact/strategies/stool_rotate.json b/mjpc/tasks/humanoid/interact/strategies/stool_rotate.json
new file mode 100644
index 000000000..838cf6f9c
--- /dev/null
+++ b/mjpc/tasks/humanoid/interact/strategies/stool_rotate.json
@@ -0,0 +1,938 @@
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\ No newline at end of file
diff --git a/mjpc/tasks/humanoid/interact/strategies/table_climb.json b/mjpc/tasks/humanoid/interact/strategies/table_climb.json
new file mode 100644
index 000000000..f0db451ce
--- /dev/null
+++ b/mjpc/tasks/humanoid/interact/strategies/table_climb.json
@@ -0,0 +1,986 @@
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+                    -0.192455,
+                    0.385982,
+                    -0.65
+                ]
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+            {
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+                "body2": 21,
+                "geom1": 19,
+                "geom2": 20,
+                "local_pos1": [
+                    0.013216,
+                    -0.036975,
+                    0.007628
+                ],
+                "local_pos2": [
+                    0.188926,
+                    0.406365,
+                    -0.65
+                ]
+            },
+            {
+                "body1": 6,
+                "body2": 21,
+                "geom1": 7,
+                "geom2": 20,
+                "local_pos1": [
+                    0.041843,
+                    0.00132,
+                    0.025465
+                ],
+                "local_pos2": [
+                    -0.26613221534593,
+                    -0.20127031186771216,
+                    -0.6499999999999997
+                ]
+            },
+            {
+                "body1": 11,
+                "body2": 21,
+                "geom1": 11,
+                "geom2": 20,
+                "local_pos1": [
+                    0.047473,
+                    0.003463,
+                    0.011632
+                ],
+                "local_pos2": [
+                    0.227636,
+                    -0.188019,
+                    -0.65
+                ]
+            },
+            {
+                "body1": 1,
+                "body2": 0,
+                "geom1": 1,
+                "geom2": 0,
+                "local_pos1": [
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "local_pos2": [
+                    0.664365,
+                    0.217577,
+                    1.25
+                ]
+            }
+        ],
+        "facing_target": [
+            0.0,
+            0.0,
+            0.0
+        ],
+        "name": "dc4r",
+        "success_sustain_time": 0,
+        "target_distance_tolerance": 0.3,
+        "time_limit": 10.0,
+        "weight": {
+            "COM Feet XY": 0.0,
+            "CoM Vel.": 10.0,
+            "Contact": 100.0,
+            "Control": 0.025,
+            "Facing Dir": 0.0,
+            "Head Height": 0.0,
+            "Joint Vel.": 0.01,
+            "Knee Feet XY": 0.0,
+            "LFoot Up": 0.0,
+            "Pelvis Up": 0.0,
+            "RFoot Up": 0.0,
+            "Torse Target": 0.0,
+            "Torso Height": 20.0,
+            "Torso Up": 0.0,
+            "control": 0.025
+        }
+    },
+    {
+        "contacts": [
+            {
+                "body1": 17,
+                "body2": 21,
+                "geom1": 16,
+                "geom2": 20,
+                "local_pos1": [
+                    0.023724,
+                    0.028041,
+                    0.015839
+                ],
+                "local_pos2": [
+                    -0.2011172807887297,
+                    0.40361013124817924,
+                    -0.6499999999999997
+                ]
+            },
+            {
+                "body1": 20,
+                "body2": 21,
+                "geom1": 19,
+                "geom2": 20,
+                "local_pos1": [
+                    0.013216,
+                    -0.036975,
+                    0.007628
+                ],
+                "local_pos2": [
+                    0.10020646728498389,
+                    0.12608536391239245,
+                    -0.6499999999999997
+                ]
+            },
+            {
+                "body1": 6,
+                "body2": 21,
+                "geom1": 7,
+                "geom2": 20,
+                "local_pos1": [
+                    0.041843,
+                    0.00132,
+                    0.025465
+                ],
+                "local_pos2": [
+                    -0.3281356337575013,
+                    -0.2104603502436433,
+                    -0.6499999999999997
+                ]
+            },
+            {
+                "body1": 11,
+                "body2": 21,
+                "geom1": 11,
+                "geom2": 20,
+                "local_pos1": [
+                    0.047473,
+                    0.003463,
+                    0.011632
+                ],
+                "local_pos2": [
+                    -0.06587309788600315,
+                    -0.34935120556885224,
+                    -0.6499999999999997
+                ]
+            },
+            {
+                "body1": 1,
+                "body2": 0,
+                "geom1": 1,
+                "geom2": 0,
+                "local_pos1": [
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "local_pos2": [
+                    0.504365,
+                    0.217577,
+                    1.25
+                ]
+            }
+        ],
+        "facing_target": [
+            0.9937455427896383,
+            0.002661271462101933
+        ],
+        "name": "dc3r",
+        "success_sustain_time": 0,
+        "target_distance_tolerance": 0.3,
+        "time_limit": 10.0,
+        "weight": {
+            "COM Feet XY": 0.0,
+            "CoM Vel.": 10.0,
+            "Contact": 100.0,
+            "Control": 0.025,
+            "Facing Dir": 0.0,
+            "Head Height": 0.0,
+            "Joint Vel.": 0.01,
+            "Knee Feet XY": 0.0,
+            "LFoot Up": 0.0,
+            "Pelvis Up": 0.0,
+            "RFoot Up": 0.0,
+            "Torse Target": 0.0,
+            "Torso Height": 20.0,
+            "Torso Up": 0.0,
+            "control": 0.025
+        }
+    },
+    {
+        "contacts": [
+            {
+                "body1": 17,
+                "body2": 21,
+                "geom1": 16,
+                "geom2": 20,
+                "local_pos1": [
+                    0.023724,
+                    0.028041,
+                    0.015839
+                ],
+                "local_pos2": [
+                    -0.25836413506395406,
+                    0.37698803305651346,
+                    -0.6499999999999997
+                ]
+            },
+            {
+                "body1": 20,
+                "body2": 21,
+                "geom1": 19,
+                "geom2": 20,
+                "local_pos1": [
+                    0.013216,
+                    -0.036975,
+                    0.007628
+                ],
+                "local_pos2": [
+                    0.10020646728498389,
+                    0.12608536391239245,
+                    -0.6499999999999997
+                ]
+            },
+            {
+                "body1": 7,
+                "body2": 0,
+                "geom1": 8,
+                "geom2": 0,
+                "local_pos1": [
+                    0.09109086212404559,
+                    -0.01286144721516809,
+                    -0.023971571801248766
+                ],
+                "local_pos2": [
+                    0.8435301479306072,
+                    -0.1338938989737709,
+                    0.0
+                ]
+            },
+            {
+                "body1": 11,
+                "body2": 21,
+                "geom1": 11,
+                "geom2": 20,
+                "local_pos1": [
+                    0.015451453519300296,
+                    -0.0008102148747241404,
+                    0.04649296867266253
+                ],
+                "local_pos2": [
+                    -0.20129710233346074,
+                    -0.4012243191349012,
+                    -0.6499999999999997
+                ]
+            },
+            {
+                "body1": 1,
+                "body2": 0,
+                "geom1": 1,
+                "geom2": 0,
+                "local_pos1": [
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "local_pos2": [
+                    0.60365,
+                    0.217577,
+                    1.25
+                ]
+            }
+        ],
+        "facing_target": [
+            0.0,
+            0.0,
+            0.0
+        ],
+        "name": "dc2r_better",
+        "success_sustain_time": 0,
+        "target_distance_tolerance": 0.3,
+        "time_limit": 5.0,
+        "weight": {
+            "COM Feet XY": 0.0,
+            "CoM Vel.": 10.0,
+            "Contact": 100.0,
+            "Control": 0.025,
+            "Facing Dir": 0.0,
+            "Head Height": 80.0,
+            "Joint Vel.": 0.01,
+            "Knee Feet XY": 0.0,
+            "LFoot Up": 0.0,
+            "Pelvis Up": 15.0,
+            "RFoot Up": 1.0,
+            "Torse Target": 0.0,
+            "Torso Height": 80.0,
+            "Torso Up": 14.499999999999998
+        }
+    },
+    {
+        "contacts": [
+            {
+                "body1": 17,
+                "body2": 21,
+                "geom1": 16,
+                "geom2": 20,
+                "local_pos1": [
+                    0.023724,
+                    0.028041,
+                    0.015839
+                ],
+                "local_pos2": [
+                    -0.25836413506395406,
+                    0.37698803305651346,
+                    -0.6499999999999997
+                ]
+            },
+            {
+                "body1": 20,
+                "body2": 21,
+                "geom1": 19,
+                "geom2": 20,
+                "local_pos1": [
+                    0.013216,
+                    -0.036975,
+                    0.007628
+                ],
+                "local_pos2": [
+                    -0.18592045338148644,
+                    0.04843571250747633,
+                    -0.6500000000000001
+                ]
+            },
+            {
+                "body1": 7,
+                "body2": 0,
+                "geom1": 8,
+                "geom2": 0,
+                "local_pos1": [
+                    0.09109086212404559,
+                    -0.01286144721516809,
+                    -0.023971571801248766
+                ],
+                "local_pos2": [
+                    1.0246263758660046,
+                    0.0693224095694065,
+                    0.0
+                ]
+            },
+            {
+                "body1": 12,
+                "body2": 0,
+                "geom1": 12,
+                "geom2": 0,
+                "local_pos1": [
+                    0.09155750767538509,
+                    -0.011389750538185636,
+                    -0.023126909554058526
+                ],
+                "local_pos2": [
+                    0.9093769416095232,
+                    -0.3298691846534352,
+                    0.0
+                ]
+            },
+            {
+                "body1": 1,
+                "body2": 0,
+                "geom1": 1,
+                "geom2": 0,
+                "local_pos1": [
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "local_pos2": [
+                    0.70365,
+                    -0.117577,
+                    1.25
+                ]
+            }
+        ],
+        "facing_target": [
+            0.0,
+            0.0,
+            0.0
+        ],
+        "name": "dc1r_better",
+        "success_sustain_time": 0.5,
+        "target_distance_tolerance": 0.3,
+        "time_limit": 5.0,
+        "weight": {
+            "COM Feet XY": 27.0,
+            "CoM Vel.": 10.0,
+            "Contact": 100.0,
+            "Control": 0.025,
+            "Facing Dir": 0.0,
+            "Head Height": 75.0,
+            "Joint Vel.": 0.01,
+            "Knee Feet XY": 23.5,
+            "LFoot Up": 30.5,
+            "Pelvis Up": 31.5,
+            "RFoot Up": 33.5,
+            "Torse Target": 0.0,
+            "Torso Height": 80.0,
+            "Torso Up": 28.999999999999996
+        }
+    }
+]
\ No newline at end of file
diff --git a/mjpc/tasks/humanoid/interact/task.xml b/mjpc/tasks/humanoid/interact/task.xml
index 5db8ddcc5..6e1667af0 100644
--- a/mjpc/tasks/humanoid/interact/task.xml
+++ b/mjpc/tasks/humanoid/interact/task.xml
@@ -3,15 +3,15 @@
   <!-- modified from: https://github.com/google-deepmind/dm_control/blob/main/dm_control/suite/humanoid.xml -->
   <include file="../humanoid_modified.xml" />
 
-  <!-- uncomment any scene below to activate it, one scene at a time -->
-    <!-- if you activate any of the scenes below, make sure to set kNumberOfFreeJoints=0-->
+<!-- uncomment any scene below to activate it, one scene at a time -->
+  <!-- if you activate any of the scenes below, make sure to set kNumberOfFreeJoints=0-->
   <include file="./scenes/armchair.xml"/>
   <!-- <include file="./scenes/bed.xml"/> -->
   <!-- <include file="./scenes/bench.xml"/> -->
   <!-- <include file="./scenes/stool.xml"/> -->
   <!-- <include file="./scenes/table.xml"/> -->
 
-    <!-- if you activate the scene below, make sure to set kNumberOfFreeJoints=1-->
+  <!-- if you activate the scene below, make sure to set kNumberOfFreeJoints=1-->
   <!-- <include file="./scenes/dining_chair.xml"/> -->
 
   <size memory="400K"/>
@@ -35,6 +35,9 @@
     <text name="task_transition" data="Sit Down|Stand Up|Relax|Stay Still" />
     <numeric name="residual_Head Height" data="1.4 0 2." />             <!--0-->
     <numeric name="residual_Torso Height" data="1.3 0 2." />            <!--1-->
+    <numeric name="residual_Dist. Tolerance" data="0.1 0. 2."/>         <!--2-->
+    <numeric name="residual_Time Limit" data="2. 0 10." />              <!--3-->
+    <numeric name="residual_Sustain Time" data="1. 0 5." />             <!--4-->
   </custom>
 
   <sensor>