Datasets:

SomaStacksOrg
/

roboverse_data_wuji

License:

fix(wuji_hand): finger mid-segments never collided with objects; capsules -> visual-mesh hulls

#13

by Everloom - opened 14 days ago

base: refs/heads/main

←

from: refs/pr/13

Discussion Files changed

+54

-44

Files changed (2) hide show

robots/openarm_wuji/openarm_wuji.xml +32 -22
robots/tianji_wuji/tianji_wuji.xml +22 -22

robots/openarm_wuji/openarm_wuji.xml CHANGED Viewed

@@ -321,14 +321,14 @@
                               <inertial pos="0.00136084 -8.51198e-05 0.0150055" quat="0.926192 0.00548447 -0.048696 -0.373854" mass="0.0333513" diaginertia="4.1738e-06 4.1045e-06 2.19539e-06" />
                               <joint name="left_finger1_joint2" pos="0 0 0" axis="0 -1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger1_link2" material="wuji_hand_chrome" />
-                              <geom type="capsule" size="0.00661572 0.0135192" pos="0 0 0.0170004" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2" group="3" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger1_link2_softbody" material="wuji_hand_pad" />
-                              <geom type="mesh" rgba="0.9 0.8 0.6 1" mesh="left_hand_finger1_link2_softbody_simplified" contype="2" conaffinity="2" group="3" />
                               <body name="left_hand_finger1_link3" pos="0.000188722 0.000991601 0.0346636" quat="0.577836 -0.0212382 -0.0150036 0.815739">
                                 <inertial pos="0.000774544 1.11939e-05 0.01277" quat="0.999951 0 0.00989566 0" mass="0.0165" diaginertia="1.4604e-06 1.42e-06 4.49604e-07" />
                                 <joint name="left_finger1_joint3" pos="0 0 0" axis="0 1 0" range="-0.4642 1.5623" actuatorfrcrange="-0.1888 0.1888" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger1_link3" material="wuji_hand_chrome" />
-                                <geom type="capsule" size="0.0110676 0.0081727" pos="0 0 0.0140091" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="left_hand_finger1_link4" pos="0 -0.0002 0.0295">
                                   <inertial pos="2.97895e-05 0.000153669 0.0148862" quat="0.705242 -0.0513145 -0.0513145 0.705242" mass="0.0206" diaginertia="1.78779e-06 1.75041e-06 7.7738e-07" />
                                   <joint name="left_finger1_joint4" pos="0 0 0" axis="0 1 0" range="-0.4699 1.5568" actuatorfrcrange="-0.1468 0.1468" />
@@ -348,12 +348,12 @@
                               <inertial pos="-1.78565e-06 0.00370948 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
                               <joint name="left_finger2_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger2_link2" material="wuji_hand_chrome" />
-                              <geom type="capsule" size="0.010221 0.0169968" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2" group="3" />
                               <body name="left_hand_finger2_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.000341914 -1.40911e-05 0.0134812" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
                                 <joint name="left_finger2_joint3" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5485" actuatorfrcrange="-0.2251 0.2251" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger2_link3" material="wuji_hand_chrome" />
-                                <geom type="capsule" size="0.010221 0.0108889" pos="0 0 0.0136213" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="left_hand_finger2_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000815133 -1.35285e-05 0.0107847" quat="0.995635 -0.00653716 -0.0926302 -0.00932836" mass="0.01718" diaginertia="1.1763e-06 1.07011e-06 4.03591e-07" />
                                   <joint name="left_finger2_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5753" actuatorfrcrange="-0.217 0.217" />
@@ -373,12 +373,12 @@
                               <inertial pos="-1.82891e-06 0.00370965 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
                               <joint name="left_finger3_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger3_link2" material="wuji_hand_chrome" />
-                              <geom type="capsule" size="0.010184 0.0170338" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2" group="3" />
                               <body name="left_hand_finger3_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.000333742 -1.05568e-05 0.0134866" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
                                 <joint name="left_finger3_joint3" pos="0 0 0" axis="0 1 0" range="-0.4739 1.5512" actuatorfrcrange="-0.2078 0.2078" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger3_link3" material="wuji_hand_chrome" />
-                                <geom type="capsule" size="0.010184 0.0109259" pos="0 0 0.0136212" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="left_hand_finger3_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000815615 -1.34653e-05 0.0107846" quat="0.995635 -0.00653716 -0.0926302 -0.00932836" mass="0.01718" diaginertia="1.1763e-06 1.07011e-06 4.03591e-07" />
                                   <joint name="left_finger3_joint4" pos="0 0 0" axis="0 1 0" range="-0.4684 1.5745" actuatorfrcrange="-0.2018 0.2018" />
@@ -398,12 +398,12 @@
                               <inertial pos="-1.82336e-06 0.00371493 0.0185138" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
                               <joint name="left_finger4_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1832 0.1832" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger4_link2" material="wuji_hand_chrome" />
-                              <geom type="capsule" size="0.0101786 0.0170048" pos="0 0.003 0.021669" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2" group="3" />
                               <body name="left_hand_finger4_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.00031892 -1.03297e-05 0.0135407" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
                                 <joint name="left_finger4_joint3" pos="0 0 0" axis="0 1 0" range="-0.4765 1.5487" actuatorfrcrange="-0.2249 0.2249" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger4_link3" material="wuji_hand_chrome" />
-                                <geom type="capsule" size="0.0101786 0.0108995" pos="0 0 0.0136532" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="left_hand_finger4_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000864592 -1.02217e-05 0.0108394" quat="0.995635 -0.00653716 -0.0926302 -0.00932836" mass="0.01718" diaginertia="1.1763e-06 1.07011e-06 4.03591e-07" />
                                   <joint name="left_finger4_joint4" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5634" actuatorfrcrange="-0.2044 0.2044" />
@@ -423,12 +423,12 @@
                               <inertial pos="-1.8211e-06 0.00371684 0.0193334" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
                               <joint name="left_finger5_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger5_link2" material="wuji_hand_chrome" />
-                              <geom type="capsule" size="0.0101586 0.016917" pos="0 0.003 0.0217777" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2" group="3" />
                               <body name="left_hand_finger5_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.000353514 -5.08998e-06 0.0139268" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
                                 <joint name="left_finger5_joint3" pos="0 0 0" axis="0 1 0" range="-0.4768 1.549" actuatorfrcrange="-0.2384 0.2384" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger5_link3" material="wuji_hand_chrome" />
-                                <geom type="capsule" size="0.0101586 0.00992035" pos="0 0 0.0146523" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="left_hand_finger5_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000906048 1.84282e-05 0.0122759" quat="0.995635 -0.00653716 -0.0926302 -0.00932836" mass="0.01718" diaginertia="1.1763e-06 1.07011e-06 4.03591e-07" />
                                   <joint name="left_finger5_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5735" actuatorfrcrange="-0.1866 0.1866" />
@@ -543,14 +543,14 @@
                               <inertial pos="-0.00136057 -8.49029e-05 0.0150056" quat="0.922053 0.00470413 0.0434721 0.384585" mass="0.0333532" diaginertia="4.2114e-06 4.06368e-06 2.19943e-06" />
                               <joint name="right_finger1_joint2" pos="0 0 0" axis="0 1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger1_link2" material="wuji_hand_chrome" />
-                              <geom type="capsule" size="0.00661572 0.0135192" pos="0 0 0.0170004" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2" group="3" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger1_link2_softbody" material="wuji_hand_pad" />
-                              <geom type="mesh" rgba="0.9 0.8 0.6 1" mesh="right_hand_finger1_link2_softbody_simplified" contype="2" conaffinity="2" group="3" />
                               <body name="right_hand_finger1_link3" pos="-0.00037714 0.001058 0.034673" quat="0.815725 0.015003 0.0212383 0.577855">
                                 <inertial pos="0.000775215 -0.000210057 0.0127726" quat="0.999951 0 0.00989566 0" mass="0.0165" diaginertia="1.4604e-06 1.42e-06 4.49604e-07" />
                                 <joint name="right_finger1_joint3" pos="0 0 0" axis="0 1 0" range="-0.4642 1.5623" actuatorfrcrange="-0.1888 0.1888" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger1_link3" material="wuji_hand_chrome" />
-                                <geom type="capsule" size="0.0110676 0.0081727" pos="0 0 0.0140091" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="right_hand_finger1_link4" pos="0 0 0.0295">
                                   <inertial pos="3.12489e-05 -0.0001544 0.0148945" quat="0.705239 -0.0513648 -0.0513648 0.705239" mass="0.0206" diaginertia="1.78779e-06 1.75044e-06 7.77343e-07" />
                                   <joint name="right_finger1_joint4" pos="0 0 0" axis="0 1 0" range="-0.4699 1.5568" actuatorfrcrange="-0.1468 0.1468" />
@@ -570,12 +570,12 @@
                               <inertial pos="1.85614e-06 0.00370979 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
                               <joint name="right_finger2_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger2_link2" material="wuji_hand_chrome" />
-                              <geom type="capsule" size="0.010221 0.0169968" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2" group="3" />
                               <body name="right_hand_finger2_link3" pos="0 0.00475028 0.0436177" quat="0.707012 0 0 -0.707202">
                                 <inertial pos="0.000342045 1.41767e-05 0.0134814" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
                                 <joint name="right_finger2_joint3" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5485" actuatorfrcrange="-0.2251 0.2251" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger2_link3" material="wuji_hand_chrome" />
-                                <geom type="capsule" size="0.010221 0.0108889" pos="0 0 0.0136213" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="right_hand_finger2_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000676323 -0.000125288 0.0107855" quat="0.995657 -0.0073755 -0.0927682 -0.00265853" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06444e-07" />
                                   <joint name="right_finger2_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5753" actuatorfrcrange="-0.217 0.217" />
@@ -595,12 +595,12 @@
                               <inertial pos="1.86459e-06 0.0037098 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
                               <joint name="right_finger3_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger3_link2" material="wuji_hand_chrome" />
-                              <geom type="capsule" size="0.010184 0.0170338" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2" group="3" />
                               <body name="right_hand_finger3_link3" pos="0 0.00475 0.0436177" quat="0.707012 0 0 -0.707202">
                                 <inertial pos="0.00033388 1.06802e-05 0.0134865" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
                                 <joint name="right_finger3_joint3" pos="0 0 0" axis="0 1 0" range="-0.4739 1.5512" actuatorfrcrange="-0.2078 0.2078" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger3_link3" material="wuji_hand_chrome" />
-                                <geom type="capsule" size="0.010184 0.0109259" pos="0 0 0.0136212" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="right_hand_finger3_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000676528 -0.00012547 0.0107852" quat="0.995657 -0.00737867 -0.0927683 -0.00263311" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06449e-07" />
                                   <joint name="right_finger3_joint4" pos="0 0 0" axis="0 1 0" range="-0.4684 1.5745" actuatorfrcrange="-0.2018 0.2018" />
@@ -620,12 +620,12 @@
                               <inertial pos="1.84945e-06 0.00370375 0.0185161" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
                               <joint name="right_finger4_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1832 0.1832" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger4_link2" material="wuji_hand_chrome" />
-                              <geom type="capsule" size="0.0101786 0.0170048" pos="0 0.003 0.021669" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2" group="3" />
                               <body name="right_hand_finger4_link3" pos="0 0.00472362 0.0436206" quat="0.707012 0.00021388 0.000213823 -0.707202">
                                 <inertial pos="0.000319082 1.04411e-05 0.0135409" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
                                 <joint name="right_finger4_joint3" pos="0 0 0" axis="0 1 0" range="-0.4765 1.5487" actuatorfrcrange="-0.2249 0.2249" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger4_link3" material="wuji_hand_chrome" />
-                                <geom type="capsule" size="0.0101786 0.0108995" pos="0 0 0.0136532" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="right_hand_finger4_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000714949 -0.000139909 0.0108406" quat="0.995656 -0.00751973 -0.0927913 -0.00151388" mass="0.01718" diaginertia="1.17803e-06 1.07186e-06 4.06933e-07" />
                                   <joint name="right_finger4_joint4" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5634" actuatorfrcrange="-0.2044 0.2044" />
@@ -645,12 +645,12 @@
                               <inertial pos="1.84966e-06 0.0037023 0.0193362" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
                               <joint name="right_finger5_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger5_link2" material="wuji_hand_chrome" />
-                              <geom type="capsule" size="0.0101586 0.016917" pos="0 0.003 0.0217777" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2" group="3" />
                               <body name="right_hand_finger5_link3" pos="0 0.004717 0.0436213" quat="0.707012 0.000267516 0.000267444 -0.707202">
                                 <inertial pos="0.000328501 5.05492e-06 0.0142853" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
                                 <joint name="right_finger5_joint3" pos="0 0 0" axis="0 1 0" range="-0.4768 1.549" actuatorfrcrange="-0.2384 0.2384" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger5_link3" material="wuji_hand_chrome" />
-                                <geom type="capsule" size="0.0101586 0.00992035" pos="0 0 0.0146523" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="right_hand_finger5_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000754828 -0.000172322 0.0122784" quat="0.995656 -0.00756106 -0.0927979 -0.00118593" mass="0.01718" diaginertia="1.1781e-06 1.07193e-06 4.07074e-07" />
                                   <joint name="right_finger5_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5735" actuatorfrcrange="-0.1866 0.1866" />
@@ -735,6 +735,16 @@
     <position name="right_finger5_joint4" joint="right_finger5_joint4" kp="0.1964723550341816" kv="0.009017295241756363" ctrlrange="-0.4683 1.5735" forcerange="-0.1866 0.1866" />
   </actuator>
   <contact>
     <exclude body1="openarm_body_link0" body2="openarm_left_link0" />
     <exclude body1="openarm_left_link0" body2="openarm_left_link1" />
     <exclude body1="openarm_left_link0" body2="openarm_left_link2" />

                               <inertial pos="0.00136084 -8.51198e-05 0.0150055" quat="0.926192 0.00548447 -0.048696 -0.373854" mass="0.0333513" diaginertia="4.1738e-06 4.1045e-06 2.19539e-06" />
                               <joint name="left_finger1_joint2" pos="0 0 0" axis="0 -1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger1_link2" material="wuji_hand_chrome" />
+                              <geom type="mesh" mesh="left_hand_finger1_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1" group="3" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger1_link2_softbody" material="wuji_hand_pad" />
+                              <geom type="mesh" rgba="0.9 0.8 0.6 1" mesh="left_hand_finger1_link2_softbody_simplified" contype="1" conaffinity="1" group="3" />
                               <body name="left_hand_finger1_link3" pos="0.000188722 0.000991601 0.0346636" quat="0.577836 -0.0212382 -0.0150036 0.815739">
                                 <inertial pos="0.000774544 1.11939e-05 0.01277" quat="0.999951 0 0.00989566 0" mass="0.0165" diaginertia="1.4604e-06 1.42e-06 4.49604e-07" />
                                 <joint name="left_finger1_joint3" pos="0 0 0" axis="0 1 0" range="-0.4642 1.5623" actuatorfrcrange="-0.1888 0.1888" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger1_link3" material="wuji_hand_chrome" />
+                                <geom type="mesh" mesh="left_hand_finger1_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="left_hand_finger1_link4" pos="0 -0.0002 0.0295">
                                   <inertial pos="2.97895e-05 0.000153669 0.0148862" quat="0.705242 -0.0513145 -0.0513145 0.705242" mass="0.0206" diaginertia="1.78779e-06 1.75041e-06 7.7738e-07" />
                                   <joint name="left_finger1_joint4" pos="0 0 0" axis="0 1 0" range="-0.4699 1.5568" actuatorfrcrange="-0.1468 0.1468" />
                               <inertial pos="-1.78565e-06 0.00370948 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
                               <joint name="left_finger2_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger2_link2" material="wuji_hand_chrome" />
+                              <geom type="mesh" mesh="left_hand_finger2_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1" group="3" />
                               <body name="left_hand_finger2_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.000341914 -1.40911e-05 0.0134812" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
                                 <joint name="left_finger2_joint3" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5485" actuatorfrcrange="-0.2251 0.2251" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger2_link3" material="wuji_hand_chrome" />
+                                <geom type="mesh" mesh="left_hand_finger2_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="left_hand_finger2_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000815133 -1.35285e-05 0.0107847" quat="0.995635 -0.00653716 -0.0926302 -0.00932836" mass="0.01718" diaginertia="1.1763e-06 1.07011e-06 4.03591e-07" />
                                   <joint name="left_finger2_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5753" actuatorfrcrange="-0.217 0.217" />
                               <inertial pos="-1.82891e-06 0.00370965 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
                               <joint name="left_finger3_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger3_link2" material="wuji_hand_chrome" />
+                              <geom type="mesh" mesh="left_hand_finger3_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1" group="3" />
                               <body name="left_hand_finger3_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.000333742 -1.05568e-05 0.0134866" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
                                 <joint name="left_finger3_joint3" pos="0 0 0" axis="0 1 0" range="-0.4739 1.5512" actuatorfrcrange="-0.2078 0.2078" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger3_link3" material="wuji_hand_chrome" />
+                                <geom type="mesh" mesh="left_hand_finger3_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="left_hand_finger3_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000815615 -1.34653e-05 0.0107846" quat="0.995635 -0.00653716 -0.0926302 -0.00932836" mass="0.01718" diaginertia="1.1763e-06 1.07011e-06 4.03591e-07" />
                                   <joint name="left_finger3_joint4" pos="0 0 0" axis="0 1 0" range="-0.4684 1.5745" actuatorfrcrange="-0.2018 0.2018" />
                               <inertial pos="-1.82336e-06 0.00371493 0.0185138" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
                               <joint name="left_finger4_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1832 0.1832" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger4_link2" material="wuji_hand_chrome" />
+                              <geom type="mesh" mesh="left_hand_finger4_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1" group="3" />
                               <body name="left_hand_finger4_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.00031892 -1.03297e-05 0.0135407" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
                                 <joint name="left_finger4_joint3" pos="0 0 0" axis="0 1 0" range="-0.4765 1.5487" actuatorfrcrange="-0.2249 0.2249" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger4_link3" material="wuji_hand_chrome" />
+                                <geom type="mesh" mesh="left_hand_finger4_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="left_hand_finger4_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000864592 -1.02217e-05 0.0108394" quat="0.995635 -0.00653716 -0.0926302 -0.00932836" mass="0.01718" diaginertia="1.1763e-06 1.07011e-06 4.03591e-07" />
                                   <joint name="left_finger4_joint4" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5634" actuatorfrcrange="-0.2044 0.2044" />
                               <inertial pos="-1.8211e-06 0.00371684 0.0193334" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
                               <joint name="left_finger5_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger5_link2" material="wuji_hand_chrome" />
+                              <geom type="mesh" mesh="left_hand_finger5_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1" group="3" />
                               <body name="left_hand_finger5_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.000353514 -5.08998e-06 0.0139268" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
                                 <joint name="left_finger5_joint3" pos="0 0 0" axis="0 1 0" range="-0.4768 1.549" actuatorfrcrange="-0.2384 0.2384" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger5_link3" material="wuji_hand_chrome" />
+                                <geom type="mesh" mesh="left_hand_finger5_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="left_hand_finger5_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000906048 1.84282e-05 0.0122759" quat="0.995635 -0.00653716 -0.0926302 -0.00932836" mass="0.01718" diaginertia="1.1763e-06 1.07011e-06 4.03591e-07" />
                                   <joint name="left_finger5_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5735" actuatorfrcrange="-0.1866 0.1866" />
                               <inertial pos="-0.00136057 -8.49029e-05 0.0150056" quat="0.922053 0.00470413 0.0434721 0.384585" mass="0.0333532" diaginertia="4.2114e-06 4.06368e-06 2.19943e-06" />
                               <joint name="right_finger1_joint2" pos="0 0 0" axis="0 1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger1_link2" material="wuji_hand_chrome" />
+                              <geom type="mesh" mesh="right_hand_finger1_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1" group="3" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger1_link2_softbody" material="wuji_hand_pad" />
+                              <geom type="mesh" rgba="0.9 0.8 0.6 1" mesh="right_hand_finger1_link2_softbody_simplified" contype="1" conaffinity="1" group="3" />
                               <body name="right_hand_finger1_link3" pos="-0.00037714 0.001058 0.034673" quat="0.815725 0.015003 0.0212383 0.577855">
                                 <inertial pos="0.000775215 -0.000210057 0.0127726" quat="0.999951 0 0.00989566 0" mass="0.0165" diaginertia="1.4604e-06 1.42e-06 4.49604e-07" />
                                 <joint name="right_finger1_joint3" pos="0 0 0" axis="0 1 0" range="-0.4642 1.5623" actuatorfrcrange="-0.1888 0.1888" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger1_link3" material="wuji_hand_chrome" />
+                                <geom type="mesh" mesh="right_hand_finger1_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="right_hand_finger1_link4" pos="0 0 0.0295">
                                   <inertial pos="3.12489e-05 -0.0001544 0.0148945" quat="0.705239 -0.0513648 -0.0513648 0.705239" mass="0.0206" diaginertia="1.78779e-06 1.75044e-06 7.77343e-07" />
                                   <joint name="right_finger1_joint4" pos="0 0 0" axis="0 1 0" range="-0.4699 1.5568" actuatorfrcrange="-0.1468 0.1468" />
                               <inertial pos="1.85614e-06 0.00370979 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
                               <joint name="right_finger2_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger2_link2" material="wuji_hand_chrome" />
+                              <geom type="mesh" mesh="right_hand_finger2_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1" group="3" />
                               <body name="right_hand_finger2_link3" pos="0 0.00475028 0.0436177" quat="0.707012 0 0 -0.707202">
                                 <inertial pos="0.000342045 1.41767e-05 0.0134814" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
                                 <joint name="right_finger2_joint3" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5485" actuatorfrcrange="-0.2251 0.2251" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger2_link3" material="wuji_hand_chrome" />
+                                <geom type="mesh" mesh="right_hand_finger2_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="right_hand_finger2_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000676323 -0.000125288 0.0107855" quat="0.995657 -0.0073755 -0.0927682 -0.00265853" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06444e-07" />
                                   <joint name="right_finger2_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5753" actuatorfrcrange="-0.217 0.217" />
                               <inertial pos="1.86459e-06 0.0037098 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
                               <joint name="right_finger3_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger3_link2" material="wuji_hand_chrome" />
+                              <geom type="mesh" mesh="right_hand_finger3_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1" group="3" />
                               <body name="right_hand_finger3_link3" pos="0 0.00475 0.0436177" quat="0.707012 0 0 -0.707202">
                                 <inertial pos="0.00033388 1.06802e-05 0.0134865" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
                                 <joint name="right_finger3_joint3" pos="0 0 0" axis="0 1 0" range="-0.4739 1.5512" actuatorfrcrange="-0.2078 0.2078" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger3_link3" material="wuji_hand_chrome" />
+                                <geom type="mesh" mesh="right_hand_finger3_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="right_hand_finger3_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000676528 -0.00012547 0.0107852" quat="0.995657 -0.00737867 -0.0927683 -0.00263311" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06449e-07" />
                                   <joint name="right_finger3_joint4" pos="0 0 0" axis="0 1 0" range="-0.4684 1.5745" actuatorfrcrange="-0.2018 0.2018" />
                               <inertial pos="1.84945e-06 0.00370375 0.0185161" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
                               <joint name="right_finger4_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1832 0.1832" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger4_link2" material="wuji_hand_chrome" />
+                              <geom type="mesh" mesh="right_hand_finger4_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1" group="3" />
                               <body name="right_hand_finger4_link3" pos="0 0.00472362 0.0436206" quat="0.707012 0.00021388 0.000213823 -0.707202">
                                 <inertial pos="0.000319082 1.04411e-05 0.0135409" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
                                 <joint name="right_finger4_joint3" pos="0 0 0" axis="0 1 0" range="-0.4765 1.5487" actuatorfrcrange="-0.2249 0.2249" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger4_link3" material="wuji_hand_chrome" />
+                                <geom type="mesh" mesh="right_hand_finger4_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="right_hand_finger4_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000714949 -0.000139909 0.0108406" quat="0.995656 -0.00751973 -0.0927913 -0.00151388" mass="0.01718" diaginertia="1.17803e-06 1.07186e-06 4.06933e-07" />
                                   <joint name="right_finger4_joint4" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5634" actuatorfrcrange="-0.2044 0.2044" />
                               <inertial pos="1.84966e-06 0.0037023 0.0193362" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
                               <joint name="right_finger5_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798" />
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger5_link2" material="wuji_hand_chrome" />
+                              <geom type="mesh" mesh="right_hand_finger5_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1" group="3" />
                               <body name="right_hand_finger5_link3" pos="0 0.004717 0.0436213" quat="0.707012 0.000267516 0.000267444 -0.707202">
                                 <inertial pos="0.000328501 5.05492e-06 0.0142853" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
                                 <joint name="right_finger5_joint3" pos="0 0 0" axis="0 1 0" range="-0.4768 1.549" actuatorfrcrange="-0.2384 0.2384" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger5_link3" material="wuji_hand_chrome" />
+                                <geom type="mesh" mesh="right_hand_finger5_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1" group="3" />
                                 <body name="right_hand_finger5_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000754828 -0.000172322 0.0122784" quat="0.995656 -0.00756106 -0.0927979 -0.00118593" mass="0.01718" diaginertia="1.1781e-06 1.07193e-06 4.07074e-07" />
                                   <joint name="right_finger5_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5735" actuatorfrcrange="-0.1866 0.1866" />
     <position name="right_finger5_joint4" joint="right_finger5_joint4" kp="0.1964723550341816" kv="0.009017295241756363" ctrlrange="-0.4683 1.5735" forcerange="-0.1866 0.1866" />
   </actuator>
   <contact>
+    <exclude body1="left_hand_palm_link" body2="left_hand_finger1_link2" />
+    <exclude body1="left_hand_palm_link" body2="left_hand_finger2_link2" />
+    <exclude body1="left_hand_palm_link" body2="left_hand_finger3_link2" />
+    <exclude body1="left_hand_palm_link" body2="left_hand_finger4_link2" />
+    <exclude body1="left_hand_palm_link" body2="left_hand_finger5_link2" />
+    <exclude body1="right_hand_palm_link" body2="right_hand_finger1_link2" />
+    <exclude body1="right_hand_palm_link" body2="right_hand_finger2_link2" />
+    <exclude body1="right_hand_palm_link" body2="right_hand_finger3_link2" />
+    <exclude body1="right_hand_palm_link" body2="right_hand_finger4_link2" />
+    <exclude body1="right_hand_palm_link" body2="right_hand_finger5_link2" />
     <exclude body1="openarm_body_link0" body2="openarm_left_link0" />
     <exclude body1="openarm_left_link0" body2="openarm_left_link1" />
     <exclude body1="openarm_left_link0" body2="openarm_left_link2" />

robots/tianji_wuji/tianji_wuji.xml CHANGED Viewed

@@ -312,13 +312,13 @@
                               <inertial pos="-0.00136057 8.49029e-05 0.0150056" quat="0.922053 -0.00470413 0.0434721 -0.384585" mass="0.0333532" diaginertia="4.2114e-06 4.06368e-06 2.19943e-06"/>
                               <joint name="left_hand_finger1_joint2" pos="0 -0 0" axis="0 -1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger1_link2__BlackGlove"/>
-                              <geom name="left_hand_finger1_link2_col" type="capsule" size="0.00661572 0.0135192" pos="0 -0 0.0170004" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
-                              <geom name="left_hand_finger1_link2_softbody_col" type="mesh" rgba="0.9 0.8 0.6 1" mesh="left_hand_finger1_link2_softbody_simplified" contype="2" conaffinity="2"/>
                               <body name="left_hand_finger1_link3" pos="0.000188722 0.000991601 0.0346636" quat="0.577836 -0.0212382 -0.0150036 0.815739">
                                 <inertial pos="0.000775215 0.000210057 0.0127726" quat="0.999951 -0 0.00989566 -0" mass="0.0165" diaginertia="1.4604e-06 1.42e-06 4.49604e-07"/>
                                 <joint name="left_hand_finger1_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4642 1.5623" actuatorfrcrange="-0.1888 0.1888"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger1_link3__BlackGlove"/>
-                                <geom name="left_hand_finger1_link3_col" type="capsule" size="0.0110676 0.0081727" pos="0 -0 0.0140091" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="left_hand_finger1_link4" pos="0 -0.0002 0.0295">
                                   <inertial pos="3.12489e-05 0.0001544 0.0148945" quat="0.705239 0.0513648 -0.0513648 -0.705239" mass="0.0206" diaginertia="1.78779e-06 1.75044e-06 7.77343e-07"/>
                                   <joint name="left_hand_finger1_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4699 1.5568" actuatorfrcrange="-0.1468 0.1468"/>
@@ -339,12 +339,12 @@
                               <inertial pos="1.85614e-06 -0.00370979 0.0184837" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="left_hand_finger2_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger2_link2__BlackGlove"/>
-                              <geom name="left_hand_finger2_link2_col" type="capsule" size="0.010221 0.0169968" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
                               <body name="left_hand_finger2_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.000342045 -1.41767e-05 0.0134814" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="left_hand_finger2_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4777 1.5485" actuatorfrcrange="-0.2251 0.2251"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger2_link3__BlackGlove"/>
-                                <geom name="left_hand_finger2_link3_col" type="capsule" size="0.010221 0.0108889" pos="0 -0 0.0136213" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="left_hand_finger2_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000676323 0.000125288 0.0107855" quat="0.995657 0.0073755 -0.0927682 0.00265853" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06444e-07"/>
                                   <joint name="left_hand_finger2_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4683 1.5753" actuatorfrcrange="-0.217 0.217"/>
@@ -365,12 +365,12 @@
                               <inertial pos="1.86459e-06 -0.0037098 0.0184837" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="left_hand_finger3_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger3_link2__BlackGlove"/>
-                              <geom name="left_hand_finger3_link2_col" type="capsule" size="0.010184 0.0170338" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
                               <body name="left_hand_finger3_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.00033388 -1.06802e-05 0.0134865" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="left_hand_finger3_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4739 1.5512" actuatorfrcrange="-0.2078 0.2078"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger3_link3__BlackGlove"/>
-                                <geom name="left_hand_finger3_link3_col" type="capsule" size="0.010184 0.0109259" pos="0 -0 0.0136212" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="left_hand_finger3_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000676528 0.00012547 0.0107852" quat="0.995657 0.00737867 -0.0927683 0.00263311" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06449e-07"/>
                                   <joint name="left_hand_finger3_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4684 1.5745" actuatorfrcrange="-0.2018 0.2018"/>
@@ -391,12 +391,12 @@
                               <inertial pos="1.84945e-06 -0.00370375 0.0185161" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="left_hand_finger4_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1832 0.1832"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger4_link2__BlackGlove"/>
-                              <geom name="left_hand_finger4_link2_col" type="capsule" size="0.0101786 0.0170048" pos="0 0.003 0.021669" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
                               <body name="left_hand_finger4_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.000319082 -1.04411e-05 0.0135409" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="left_hand_finger4_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4765 1.5487" actuatorfrcrange="-0.2249 0.2249"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger4_link3__BlackGlove"/>
-                                <geom name="left_hand_finger4_link3_col" type="capsule" size="0.0101786 0.0108995" pos="0 -0 0.0136532" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="left_hand_finger4_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000714949 0.000139909 0.0108406" quat="0.995656 0.00751973 -0.0927913 0.00151388" mass="0.01718" diaginertia="1.17803e-06 1.07186e-06 4.06933e-07"/>
                                   <joint name="left_hand_finger4_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4777 1.5634" actuatorfrcrange="-0.2044 0.2044"/>
@@ -417,12 +417,12 @@
                               <inertial pos="1.84966e-06 -0.0037023 0.0193362" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="left_hand_finger5_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger5_link2__BlackGlove"/>
-                              <geom name="left_hand_finger5_link2_col" type="capsule" size="0.0101586 0.016917" pos="0 0.003 0.0217777" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
                               <body name="left_hand_finger5_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.000328501 -5.05492e-06 0.0142853" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="left_hand_finger5_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4768 1.549" actuatorfrcrange="-0.2384 0.2384"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger5_link3__BlackGlove"/>
-                                <geom name="left_hand_finger5_link3_col" type="capsule" size="0.0101586 0.00992035" pos="0 -0 0.0146523" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="left_hand_finger5_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000754828 0.000172322 0.0122784" quat="0.995656 0.00756106 -0.0927979 0.00118593" mass="0.01718" diaginertia="1.1781e-06 1.07193e-06 4.07074e-07"/>
                                   <joint name="left_hand_finger5_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4683 1.5735" actuatorfrcrange="-0.1866 0.1866"/>
@@ -538,13 +538,13 @@
                               <inertial pos="-0.00136057 -8.49029e-05 0.0150056" quat="0.922053 0.00470413 0.0434721 0.384585" mass="0.0333532" diaginertia="4.2114e-06 4.06368e-06 2.19943e-06"/>
                               <joint name="right_hand_finger1_joint2" pos="0 0 0" axis="0 1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger1_link2__BlackGlove"/>
-                              <geom name="right_hand_finger1_link2_col" type="capsule" size="0.00661572 0.0135192" pos="0 0 0.0170004" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
-                              <geom name="right_hand_finger1_link2_softbody_col" type="mesh" rgba="0.9 0.8 0.6 1" mesh="right_hand_finger1_link2_softbody_simplified" contype="2" conaffinity="2"/>
                               <body name="right_hand_finger1_link3" pos="-0.00037714 0.001058 0.034673" quat="0.815725 0.015003 0.0212383 0.577855">
                                 <inertial pos="0.000775215 -0.000210057 0.0127726" quat="0.999951 0 0.00989566 0" mass="0.0165" diaginertia="1.4604e-06 1.42e-06 4.49604e-07"/>
                                 <joint name="right_hand_finger1_joint3" pos="0 0 0" axis="0 1 0" range="-0.4642 1.5623" actuatorfrcrange="-0.1888 0.1888"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger1_link3__BlackGlove"/>
-                                <geom name="right_hand_finger1_link3_col" type="capsule" size="0.0110676 0.0081727" pos="0 0 0.0140091" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="right_hand_finger1_link4" pos="0 0 0.0295">
                                   <inertial pos="3.12489e-05 -0.0001544 0.0148945" quat="0.705239 -0.0513648 -0.0513648 0.705239" mass="0.0206" diaginertia="1.78779e-06 1.75044e-06 7.77343e-07"/>
                                   <joint name="right_hand_finger1_joint4" pos="0 0 0" axis="0 1 0" range="-0.4699 1.5568" actuatorfrcrange="-0.1468 0.1468"/>
@@ -565,12 +565,12 @@
                               <inertial pos="1.85614e-06 0.00370979 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="right_hand_finger2_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger2_link2__BlackGlove"/>
-                              <geom name="right_hand_finger2_link2_col" type="capsule" size="0.010221 0.0169968" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
                               <body name="right_hand_finger2_link3" pos="0 0.00475028 0.0436177" quat="0.707012 0 0 -0.707202">
                                 <inertial pos="0.000342045 1.41767e-05 0.0134814" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="right_hand_finger2_joint3" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5485" actuatorfrcrange="-0.2251 0.2251"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger2_link3__BlackGlove"/>
-                                <geom name="right_hand_finger2_link3_col" type="capsule" size="0.010221 0.0108889" pos="0 0 0.0136213" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="right_hand_finger2_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000676323 -0.000125288 0.0107855" quat="0.995657 -0.0073755 -0.0927682 -0.00265853" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06444e-07"/>
                                   <joint name="right_hand_finger2_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5753" actuatorfrcrange="-0.217 0.217"/>
@@ -591,12 +591,12 @@
                               <inertial pos="1.86459e-06 0.0037098 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="right_hand_finger3_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger3_link2__BlackGlove"/>
-                              <geom name="right_hand_finger3_link2_col" type="capsule" size="0.010184 0.0170338" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
                               <body name="right_hand_finger3_link3" pos="0 0.00475 0.0436177" quat="0.707012 0 0 -0.707202">
                                 <inertial pos="0.00033388 1.06802e-05 0.0134865" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="right_hand_finger3_joint3" pos="0 0 0" axis="0 1 0" range="-0.4739 1.5512" actuatorfrcrange="-0.2078 0.2078"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger3_link3__BlackGlove"/>
-                                <geom name="right_hand_finger3_link3_col" type="capsule" size="0.010184 0.0109259" pos="0 0 0.0136212" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="right_hand_finger3_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000676528 -0.00012547 0.0107852" quat="0.995657 -0.00737867 -0.0927683 -0.00263311" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06449e-07"/>
                                   <joint name="right_hand_finger3_joint4" pos="0 0 0" axis="0 1 0" range="-0.4684 1.5745" actuatorfrcrange="-0.2018 0.2018"/>
@@ -617,12 +617,12 @@
                               <inertial pos="1.84945e-06 0.00370375 0.0185161" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="right_hand_finger4_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1832 0.1832"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger4_link2__BlackGlove"/>
-                              <geom name="right_hand_finger4_link2_col" type="capsule" size="0.0101786 0.0170048" pos="0 0.003 0.021669" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
                               <body name="right_hand_finger4_link3" pos="0 0.00472362 0.0436206" quat="0.707012 0.00021388 0.000213823 -0.707202">
                                 <inertial pos="0.000319082 1.04411e-05 0.0135409" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="right_hand_finger4_joint3" pos="0 0 0" axis="0 1 0" range="-0.4765 1.5487" actuatorfrcrange="-0.2249 0.2249"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger4_link3__BlackGlove"/>
-                                <geom name="right_hand_finger4_link3_col" type="capsule" size="0.0101786 0.0108995" pos="0 0 0.0136532" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="right_hand_finger4_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000714949 -0.000139909 0.0108406" quat="0.995656 -0.00751973 -0.0927913 -0.00151388" mass="0.01718" diaginertia="1.17803e-06 1.07186e-06 4.06933e-07"/>
                                   <joint name="right_hand_finger4_joint4" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5634" actuatorfrcrange="-0.2044 0.2044"/>
@@ -643,12 +643,12 @@
                               <inertial pos="1.84966e-06 0.0037023 0.0193362" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="right_hand_finger5_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger5_link2__BlackGlove"/>
-                              <geom name="right_hand_finger5_link2_col" type="capsule" size="0.0101586 0.016917" pos="0 0.003 0.0217777" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
                               <body name="right_hand_finger5_link3" pos="0 0.004717 0.0436213" quat="0.707012 0.000267516 0.000267444 -0.707202">
                                 <inertial pos="0.000328501 5.05492e-06 0.0142853" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="right_hand_finger5_joint3" pos="0 0 0" axis="0 1 0" range="-0.4768 1.549" actuatorfrcrange="-0.2384 0.2384"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger5_link3__BlackGlove"/>
-                                <geom name="right_hand_finger5_link3_col" type="capsule" size="0.0101586 0.00992035" pos="0 0 0.0146523" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="right_hand_finger5_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000754828 -0.000172322 0.0122784" quat="0.995656 -0.00756106 -0.0927979 -0.00118593" mass="0.01718" diaginertia="1.1781e-06 1.07193e-06 4.07074e-07"/>
                                   <joint name="right_hand_finger5_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5735" actuatorfrcrange="-0.1866 0.1866"/>

                               <inertial pos="-0.00136057 8.49029e-05 0.0150056" quat="0.922053 -0.00470413 0.0434721 -0.384585" mass="0.0333532" diaginertia="4.2114e-06 4.06368e-06 2.19943e-06"/>
                               <joint name="left_hand_finger1_joint2" pos="0 -0 0" axis="0 -1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger1_link2__BlackGlove"/>
+                              <geom name="left_hand_finger1_link2_col" type="mesh" mesh="left_hand_finger1_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1"/>
+                              <geom name="left_hand_finger1_link2_softbody_col" type="mesh" rgba="0.9 0.8 0.6 1" mesh="left_hand_finger1_link2_softbody_simplified" contype="1" conaffinity="1"/>
                               <body name="left_hand_finger1_link3" pos="0.000188722 0.000991601 0.0346636" quat="0.577836 -0.0212382 -0.0150036 0.815739">
                                 <inertial pos="0.000775215 0.000210057 0.0127726" quat="0.999951 -0 0.00989566 -0" mass="0.0165" diaginertia="1.4604e-06 1.42e-06 4.49604e-07"/>
                                 <joint name="left_hand_finger1_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4642 1.5623" actuatorfrcrange="-0.1888 0.1888"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger1_link3__BlackGlove"/>
+                                <geom name="left_hand_finger1_link3_col" type="mesh" mesh="left_hand_finger1_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="left_hand_finger1_link4" pos="0 -0.0002 0.0295">
                                   <inertial pos="3.12489e-05 0.0001544 0.0148945" quat="0.705239 0.0513648 -0.0513648 -0.705239" mass="0.0206" diaginertia="1.78779e-06 1.75044e-06 7.77343e-07"/>
                                   <joint name="left_hand_finger1_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4699 1.5568" actuatorfrcrange="-0.1468 0.1468"/>
                               <inertial pos="1.85614e-06 -0.00370979 0.0184837" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="left_hand_finger2_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger2_link2__BlackGlove"/>
+                              <geom name="left_hand_finger2_link2_col" type="mesh" mesh="left_hand_finger2_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1"/>
                               <body name="left_hand_finger2_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.000342045 -1.41767e-05 0.0134814" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="left_hand_finger2_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4777 1.5485" actuatorfrcrange="-0.2251 0.2251"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger2_link3__BlackGlove"/>
+                                <geom name="left_hand_finger2_link3_col" type="mesh" mesh="left_hand_finger2_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="left_hand_finger2_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000676323 0.000125288 0.0107855" quat="0.995657 0.0073755 -0.0927682 0.00265853" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06444e-07"/>
                                   <joint name="left_hand_finger2_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4683 1.5753" actuatorfrcrange="-0.217 0.217"/>
                               <inertial pos="1.86459e-06 -0.0037098 0.0184837" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="left_hand_finger3_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger3_link2__BlackGlove"/>
+                              <geom name="left_hand_finger3_link2_col" type="mesh" mesh="left_hand_finger3_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1"/>
                               <body name="left_hand_finger3_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.00033388 -1.06802e-05 0.0134865" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="left_hand_finger3_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4739 1.5512" actuatorfrcrange="-0.2078 0.2078"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger3_link3__BlackGlove"/>
+                                <geom name="left_hand_finger3_link3_col" type="mesh" mesh="left_hand_finger3_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="left_hand_finger3_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000676528 0.00012547 0.0107852" quat="0.995657 0.00737867 -0.0927683 0.00263311" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06449e-07"/>
                                   <joint name="left_hand_finger3_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4684 1.5745" actuatorfrcrange="-0.2018 0.2018"/>
                               <inertial pos="1.84945e-06 -0.00370375 0.0185161" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="left_hand_finger4_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1832 0.1832"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger4_link2__BlackGlove"/>
+                              <geom name="left_hand_finger4_link2_col" type="mesh" mesh="left_hand_finger4_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1"/>
                               <body name="left_hand_finger4_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.000319082 -1.04411e-05 0.0135409" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="left_hand_finger4_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4765 1.5487" actuatorfrcrange="-0.2249 0.2249"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger4_link3__BlackGlove"/>
+                                <geom name="left_hand_finger4_link3_col" type="mesh" mesh="left_hand_finger4_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="left_hand_finger4_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000714949 0.000139909 0.0108406" quat="0.995656 0.00751973 -0.0927913 0.00151388" mass="0.01718" diaginertia="1.17803e-06 1.07186e-06 4.06933e-07"/>
                                   <joint name="left_hand_finger4_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4777 1.5634" actuatorfrcrange="-0.2044 0.2044"/>
                               <inertial pos="1.84966e-06 -0.0037023 0.0193362" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="left_hand_finger5_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger5_link2__BlackGlove"/>
+                              <geom name="left_hand_finger5_link2_col" type="mesh" mesh="left_hand_finger5_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1"/>
                               <body name="left_hand_finger5_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
                                 <inertial pos="0.000328501 -5.05492e-06 0.0142853" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="left_hand_finger5_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4768 1.549" actuatorfrcrange="-0.2384 0.2384"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger5_link3__BlackGlove"/>
+                                <geom name="left_hand_finger5_link3_col" type="mesh" mesh="left_hand_finger5_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="left_hand_finger5_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000754828 0.000172322 0.0122784" quat="0.995656 0.00756106 -0.0927979 0.00118593" mass="0.01718" diaginertia="1.1781e-06 1.07193e-06 4.07074e-07"/>
                                   <joint name="left_hand_finger5_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4683 1.5735" actuatorfrcrange="-0.1866 0.1866"/>
                               <inertial pos="-0.00136057 -8.49029e-05 0.0150056" quat="0.922053 0.00470413 0.0434721 0.384585" mass="0.0333532" diaginertia="4.2114e-06 4.06368e-06 2.19943e-06"/>
                               <joint name="right_hand_finger1_joint2" pos="0 0 0" axis="0 1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger1_link2__BlackGlove"/>
+                              <geom name="right_hand_finger1_link2_col" type="mesh" mesh="right_hand_finger1_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1"/>
+                              <geom name="right_hand_finger1_link2_softbody_col" type="mesh" rgba="0.9 0.8 0.6 1" mesh="right_hand_finger1_link2_softbody_simplified" contype="1" conaffinity="1"/>
                               <body name="right_hand_finger1_link3" pos="-0.00037714 0.001058 0.034673" quat="0.815725 0.015003 0.0212383 0.577855">
                                 <inertial pos="0.000775215 -0.000210057 0.0127726" quat="0.999951 0 0.00989566 0" mass="0.0165" diaginertia="1.4604e-06 1.42e-06 4.49604e-07"/>
                                 <joint name="right_hand_finger1_joint3" pos="0 0 0" axis="0 1 0" range="-0.4642 1.5623" actuatorfrcrange="-0.1888 0.1888"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger1_link3__BlackGlove"/>
+                                <geom name="right_hand_finger1_link3_col" type="mesh" mesh="right_hand_finger1_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="right_hand_finger1_link4" pos="0 0 0.0295">
                                   <inertial pos="3.12489e-05 -0.0001544 0.0148945" quat="0.705239 -0.0513648 -0.0513648 0.705239" mass="0.0206" diaginertia="1.78779e-06 1.75044e-06 7.77343e-07"/>
                                   <joint name="right_hand_finger1_joint4" pos="0 0 0" axis="0 1 0" range="-0.4699 1.5568" actuatorfrcrange="-0.1468 0.1468"/>
                               <inertial pos="1.85614e-06 0.00370979 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="right_hand_finger2_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger2_link2__BlackGlove"/>
+                              <geom name="right_hand_finger2_link2_col" type="mesh" mesh="right_hand_finger2_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1"/>
                               <body name="right_hand_finger2_link3" pos="0 0.00475028 0.0436177" quat="0.707012 0 0 -0.707202">
                                 <inertial pos="0.000342045 1.41767e-05 0.0134814" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="right_hand_finger2_joint3" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5485" actuatorfrcrange="-0.2251 0.2251"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger2_link3__BlackGlove"/>
+                                <geom name="right_hand_finger2_link3_col" type="mesh" mesh="right_hand_finger2_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="right_hand_finger2_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000676323 -0.000125288 0.0107855" quat="0.995657 -0.0073755 -0.0927682 -0.00265853" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06444e-07"/>
                                   <joint name="right_hand_finger2_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5753" actuatorfrcrange="-0.217 0.217"/>
                               <inertial pos="1.86459e-06 0.0037098 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="right_hand_finger3_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger3_link2__BlackGlove"/>
+                              <geom name="right_hand_finger3_link2_col" type="mesh" mesh="right_hand_finger3_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1"/>
                               <body name="right_hand_finger3_link3" pos="0 0.00475 0.0436177" quat="0.707012 0 0 -0.707202">
                                 <inertial pos="0.00033388 1.06802e-05 0.0134865" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="right_hand_finger3_joint3" pos="0 0 0" axis="0 1 0" range="-0.4739 1.5512" actuatorfrcrange="-0.2078 0.2078"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger3_link3__BlackGlove"/>
+                                <geom name="right_hand_finger3_link3_col" type="mesh" mesh="right_hand_finger3_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="right_hand_finger3_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000676528 -0.00012547 0.0107852" quat="0.995657 -0.00737867 -0.0927683 -0.00263311" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06449e-07"/>
                                   <joint name="right_hand_finger3_joint4" pos="0 0 0" axis="0 1 0" range="-0.4684 1.5745" actuatorfrcrange="-0.2018 0.2018"/>
                               <inertial pos="1.84945e-06 0.00370375 0.0185161" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="right_hand_finger4_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1832 0.1832"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger4_link2__BlackGlove"/>
+                              <geom name="right_hand_finger4_link2_col" type="mesh" mesh="right_hand_finger4_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1"/>
                               <body name="right_hand_finger4_link3" pos="0 0.00472362 0.0436206" quat="0.707012 0.00021388 0.000213823 -0.707202">
                                 <inertial pos="0.000319082 1.04411e-05 0.0135409" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="right_hand_finger4_joint3" pos="0 0 0" axis="0 1 0" range="-0.4765 1.5487" actuatorfrcrange="-0.2249 0.2249"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger4_link3__BlackGlove"/>
+                                <geom name="right_hand_finger4_link3_col" type="mesh" mesh="right_hand_finger4_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="right_hand_finger4_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000714949 -0.000139909 0.0108406" quat="0.995656 -0.00751973 -0.0927913 -0.00151388" mass="0.01718" diaginertia="1.17803e-06 1.07186e-06 4.06933e-07"/>
                                   <joint name="right_hand_finger4_joint4" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5634" actuatorfrcrange="-0.2044 0.2044"/>
                               <inertial pos="1.84966e-06 0.0037023 0.0193362" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
                               <joint name="right_hand_finger5_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger5_link2__BlackGlove"/>
+                              <geom name="right_hand_finger5_link2_col" type="mesh" mesh="right_hand_finger5_link2" rgba="0.9 0.8 0.6 1" contype="1" conaffinity="1"/>
                               <body name="right_hand_finger5_link3" pos="0 0.004717 0.0436213" quat="0.707012 0.000267516 0.000267444 -0.707202">
                                 <inertial pos="0.000328501 5.05492e-06 0.0142853" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
                                 <joint name="right_hand_finger5_joint3" pos="0 0 0" axis="0 1 0" range="-0.4768 1.549" actuatorfrcrange="-0.2384 0.2384"/>
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger5_link3__BlackGlove"/>
+                                <geom name="right_hand_finger5_link3_col" type="mesh" mesh="right_hand_finger5_link3" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
                                 <body name="right_hand_finger5_link4" pos="0 0 0.0295">
                                   <inertial pos="-0.000754828 -0.000172322 0.0122784" quat="0.995656 -0.00756106 -0.0927979 -0.00118593" mass="0.01718" diaginertia="1.1781e-06 1.07193e-06 4.07074e-07"/>
                                   <joint name="right_hand_finger5_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5735" actuatorfrcrange="-0.1866 0.1866"/>