Chaoyi Pan commited on 7 days ago

Commit

433516d

1 Parent(s): 1c839de

add: sharpa hand assets (xml + meshes) for oakinkv2 retargeting

Allows scene.xml under processed/oakinkv2/sharpa/right/.../scene.xml to
resolve its mesh references when other users clone the dataset. Source:
github.com/jc-bao/private-robots/sharpa.

Files changed (50) hide show

.gitignore +1 -0
processed/oakink/assets/robots/sharpa/bimanual.xml +4 -0
processed/oakink/assets/robots/sharpa/left.xml +427 -0
processed/oakink/assets/robots/sharpa/left_sharpa_wave.xml +250 -0
processed/oakink/assets/robots/sharpa/meshes/MCP_VL.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/elastomer.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/elastomer_surface.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_DP.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_DP_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_MCP_VL_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_MP.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_MP_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_PP.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_PP_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_hand_C_MC.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_hand_C_MC_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_hand_C_MC_visual_.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_pinky_MC.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_pinky_MC_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_thumb_CMC_VL.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_thumb_DP.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_thumb_DP_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_thumb_MC.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_thumb_MCP_VL_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_thumb_MC_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_thumb_PP.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/left_thumb_PP_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_DP.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_DP_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_MCP_VL_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_MP.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_MP_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_PP.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_PP_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_hand_C_MC.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_hand_C_MC_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_hand_C_MC_visual_.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_pinky_MC.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_pinky_MC_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_thumb_CMC_VL_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_thumb_DP.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_thumb_DP_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_thumb_MC.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_thumb_MCP_VL_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_thumb_MC_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_thumb_PP.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/right_thumb_PP_visual.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/thumb_elastomer.STL +3 -0
processed/oakink/assets/robots/sharpa/meshes/thumb_elastomer_surface.STL +3 -0
processed/oakink/assets/robots/sharpa/right.xml +427 -0

.gitignore CHANGED Viewed

@@ -1,4 +1,5 @@
 sharpa/
 xhand_pro/
 processed/gigahand/assets/robots/xhand/MJMODEL.TXT
 */assets/robots/xhand/MJMODEL.TXT

 sharpa/
+!processed/oakink/assets/robots/sharpa/
 xhand_pro/
 processed/gigahand/assets/robots/xhand/MJMODEL.TXT
 */assets/robots/xhand/MJMODEL.TXT

processed/oakink/assets/robots/sharpa/bimanual.xml ADDED Viewed

	@@ -0,0 +1,4 @@

+<mujoco model="bimanual">
+    <include file="right.xml" />
+    <include file="left.xml" />
+</mujoco>

processed/oakink/assets/robots/sharpa/left.xml ADDED Viewed

	@@ -0,0 +1,427 @@

+<mujoco model="left_sharpa">
+  <compiler angle="radian" meshdir="meshes/" autolimits="true"/>
+  <option timestep="0.01" iterations="6" solver="CG" jacobian="auto">
+    <flag eulerdamp="disable" />
+  </option>
+  <default>
+    <!-- Disable all contacts by default, use explicit collision pairs -->
+    <geom density="800" condim="1" contype="0" conaffinity="0" />
+    <!-- Position controller settings (response time ~1s) -->
+    <position kp="300" dampratio="1.0" inheritrange="1" />
+    <!-- Joint dynamics -->
+    <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+    <!-- Trace sites for visualization -->
+    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+  </default>
+  <asset>
+    <!-- Skybox texture -->
+    <texture type="skybox" builtin="gradient"
+             rgb1="1 1 1" rgb2="1 1 1"
+             width="512" height="3072" />
+    <!-- Ground plane texture -->
+    <texture type="2d" name="left_groundplane" builtin="checker"
+             mark="edge" rgb1="1 1 1" rgb2="1 1 1"
+             markrgb="0 0 0" width="300" height="300" />
+    <!-- Ground material -->
+    <material name="left_groundplane" texture="left_groundplane"
+              texuniform="true" texrepeat="5 5" reflectance="0.2" />
+    <!-- Hand meshes -->
+    <mesh name="left_hand_C_MC_visual" file="left_hand_C_MC_visual_.STL"/>
+    <mesh name="left_hand_C_MC" file="left_hand_C_MC.STL"/>
+    <mesh name="left_thumb_CMC_VL_visual" file="left_thumb_CMC_VL.STL"/>
+    <mesh name="left_thumb_MC_visual" file="left_thumb_MC_visual.STL"/>
+    <mesh name="left_thumb_MC" file="left_thumb_MC.STL"/>
+    <mesh name="left_thumb_MCP_VL_visual" file="left_thumb_MCP_VL_visual.STL"/>
+    <mesh name="left_thumb_PP_visual" file="left_thumb_PP_visual.STL"/>
+    <mesh name="left_thumb_PP" file="left_thumb_PP.STL"/>
+    <mesh name="left_thumb_DP_visual" file="left_thumb_DP_visual.STL"/>
+    <mesh name="left_thumb_DP" file="left_thumb_DP.STL"/>
+    <mesh name="left_thumb_elastomer" file="thumb_elastomer.STL"/>
+    <mesh name="left_MCP_VL_visual" file="left_MCP_VL_visual.STL"/>
+    <mesh name="left_MCP_VL" file="MCP_VL.STL"/>
+    <mesh name="left_PP_visual" file="left_PP_visual.STL"/>
+    <mesh name="left_PP" file="left_PP.STL"/>
+    <mesh name="left_MP_visual" file="left_MP_visual.STL"/>
+    <mesh name="left_MP" file="left_MP.STL"/>
+    <mesh name="left_DP_visual" file="left_DP_visual.STL"/>
+    <mesh name="left_DP" file="left_DP.STL"/>
+    <mesh name="left_elastomer" file="elastomer.STL"/>
+    <mesh name="left_pinky_MC_visual" file="left_pinky_MC_visual.STL"/>
+    <mesh name="left_pinky_MC" file="left_pinky_MC.STL"/>
+  </asset>
+  <worldbody>
+    <!-- Directional light -->
+    <light pos="0 0 3" dir="0 0 -1" directional="true"/>
+    <!-- Tracking camera -->
+    <camera name="left_track" pos="0.868 -0.348 -0.175"
+            xyaxes="0.037 0.999 -0.000 0.011 -0.000 1.000" mode="trackcom"/>
+    <!-- Left hand with 6-DOF base -->
+    <body name="left_hand_base" pos="0 0 0.2">
+      <!-- Base 6-DOF joints (3 translation + 3 rotation) -->
+      <joint name="left_pos_x" type="slide" axis="1 0 0" range="-5 5"/>
+      <joint name="left_pos_y" type="slide" axis="0 1 0" range="-5 5"/>
+      <joint name="left_pos_z" type="slide" axis="0 0 1" range="-5 5"/>
+      <joint name="left_rot_x" type="hinge" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="left_rot_y" type="hinge" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="left_rot_z" type="hinge" axis="0 0 1" range="-6.28 6.28"/>
+      <!-- Hand base body -->
+      <body name="left_hand_C_MC" pos="0 0 0">
+        <inertial pos="-0.00216 -0.00536 0.04011" quat="0.693082 0.0757241 -0.0659362 0.713831" mass="0.6506" diaginertia="0.000814964 0.000674248 0.00027314"/>
+        <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_hand_C_MC_visual" name="left_hand_C_MC_visual"/>
+        <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_hand_C_MC" name="left_hand_C_MC"/>
+        <!-- Collision geometry for palm -->
+        <geom name="collision_hand_left_palm_0" type="box" size="0.02 0.04 0.04" pos="0 0 0.05" group="3" rgba="0 1 0 1" />
+        <!-- Tracking site for palm (Z-axis forward, X-axis down) -->
+        <site name="left_palm" pos="0 0 0.05" euler="0 0 0" size="0.01" type="sphere" rgba="1 1 0 1" group="3" />
+        <!-- Thumb -->
+        <body name="left_thumb_CMC_VL" pos="0.01 -0.026 0.0214" quat="0.707105 0 0 -0.707108">
+          <inertial pos="-0.00065 -0.0002 0" quat="0.557664 0.434754 -0.557664 0.434754" mass="0.0025" diaginertia="2.6e-07 2.12661e-07 1.34339e-07"/>
+          <joint name="left_thumb_CMC_FE" pos="0 0 0" axis="0 0 1" range="-0.1745 1.9199"/>
+          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_CMC_VL_visual"/>
+          <body name="left_thumb_MC" pos="0 -0.005 0" quat="0.65328 0.653282 -0.270598 0.270599">
+            <inertial pos="0.03643 -0.01024 -0.00517" quat="0.154462 0.683763 0.151259 0.696943" mass="0.13587" diaginertia="4.69153e-05 4.29066e-05 1.92101e-05"/>
+            <joint name="left_thumb_CMC_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_MC_visual" name="left_thumb_MC_visual"/>
+            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_MC" name="left_thumb_MC"/>
+            <!-- Collision for thumb metacarpal -->
+            <geom name="collision_hand_left_thumb_3" type="capsule" size="0.01 0.025" pos="0.032 -0.003 -0.005" quat="1 0 1 0" group="3" rgba="0 1 0 1" />
+            <body name="left_thumb_MCP_VL" pos="0.065 -0.006 -0.010392" quat="0.965926 -0.25882 0 0">
+              <inertial pos="-1.29e-09 1.1e-10 0" quat="0.484363 0.515163 -0.484363 0.515163" mass="8e-05" diaginertia="7.9e-08 6.40993e-08 3.79007e-08"/>
+              <joint name="left_thumb_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.5236 1.3963"/>
+              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_MCP_VL_visual"/>
+              <body name="left_thumb_PP" quat="0.707105 0.707108 0 0">
+                <inertial pos="0.021256 -0.00095 0.00092" quat="0.511613 0.44358 0.554609 0.483631" mass="0.03078" diaginertia="6.08344e-06 5.91207e-06 1.22148e-06"/>
+                <joint name="left_thumb_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_PP_visual" name="left_thumb_PP_visual"/>
+                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_PP" name="left_thumb_PP"/>
+                <!-- Collision for thumb proximal phalanx -->
+                <geom name="collision_hand_left_thumb_2" type="capsule" size="0.008 0.015" pos="0.019 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                <body name="left_thumb_DP" pos="0.039 0 0" quat="0.707105 -0.707108 0 0">
+                  <inertial pos="0.00823857 -0.00178179 -0.00099978" quat="-0.255976 0.71385 -0.187437 0.62431" mass="0.009981" diaginertia="1.09052e-06 1.04137e-06 2.95184e-07"/>
+                  <joint name="left_thumb_IP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
+                  <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_DP_visual" name="left_thumb_DP_visual"/>
+                  <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_DP" name="left_thumb_DP"/>
+                  <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="left_thumb_elastomer" name="left_thumb_elastomer_visual"/>
+                  <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="left_thumb_elastomer" name="left_thumb_elastomer"/>
+                  <!-- Collision geometry for thumb distal phalanx -->
+                  <geom name="collision_hand_left_thumb_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                  <!-- Collision geometry for thumb tip/elastomer -->
+                  <geom name="collision_hand_left_thumb_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                  <!-- Trace site for thumb tip -->
+                  <site name="trace_hand_left_thumb_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
+                  <!-- Tracking site for thumb tip -->
+                  <site name="left_thumb_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <!-- Index finger -->
+        <body name="left_index_MCP_VL" pos="0.001 -0.0303 0.0959" quat="0.499998 -0.500002 -0.5 -0.5">
+          <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
+          <joint name="left_index_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708"/>
+          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL_visual"/>
+          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL"/>
+          <body name="left_index_PP" quat="0.707105 0.707108 0 0">
+            <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
+            <joint name="left_index_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP_visual" name="left_index_PP_visual"/>
+            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP" name="left_index_PP"/>
+            <!-- Collision for index proximal phalanx -->
+            <geom name="collision_hand_left_index_3" type="capsule" size="0.008 0.019" pos="0.023 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+            <body name="left_index_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
+              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
+              <joint name="left_index_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
+              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP_visual" name="left_index_MP_visual"/>
+              <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP" name="left_index_MP"/>
+              <!-- Collision for index intermediate phalanx -->
+              <geom name="collision_hand_left_index_2" type="capsule" size="0.008 0.013" pos="0.015 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+              <body name="left_index_DP" pos="0.0315 0 0">
+                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
+                <joint name="left_index_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
+                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP_visual" name="left_index_DP_visual"/>
+                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP" name="left_index_DP"/>
+                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="left_elastomer" name="left_index_elastomer_visual"/>
+                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="left_elastomer" name="left_index_elastomer"/>
+                <!-- Collision geometry for index distal phalanx -->
+                <geom name="collision_hand_left_index_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                <!-- Collision geometry for index fingertip/elastomer -->
+                <geom name="collision_hand_left_index_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                <!-- Trace site for index tip -->
+                <site name="trace_hand_left_index_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
+                <!-- Tracking site for index tip -->
+                <site name="left_index_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
+              </body>
+            </body>
+          </body>
+        </body>
+        <!-- Middle finger -->
+        <body name="left_middle_MCP_VL" pos="0 -0.01 0.0989" quat="0.499998 -0.500002 -0.5 -0.5">
+          <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
+          <joint name="left_middle_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708"/>
+          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL_visual"/>
+          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL"/>
+          <body name="left_middle_PP" quat="0.707105 0.707108 0 0">
+            <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
+            <joint name="left_middle_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP_visual" name="left_middle_PP_visual"/>
+            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP" name="left_middle_PP"/>
+            <!-- Collision for middle proximal phalanx -->
+            <geom name="collision_hand_left_middle_3" type="capsule" size="0.008 0.019" pos="0.023 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+            <body name="left_middle_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
+              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
+              <joint name="left_middle_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
+              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP_visual" name="left_middle_MP_visual"/>
+              <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP" name="left_middle_MP"/>
+              <!-- Collision for middle intermediate phalanx -->
+              <geom name="collision_hand_left_middle_2" type="capsule" size="0.008 0.013" pos="0.015 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+              <body name="left_middle_DP" pos="0.0315 0 0">
+                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
+                <joint name="left_middle_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
+                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP_visual" name="left_middle_DP_visual"/>
+                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP" name="left_middle_DP"/>
+                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="left_elastomer" name="left_middle_elastomer_visual"/>
+                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="left_elastomer" name="left_middle_elastomer"/>
+                <!-- Collision geometry for middle distal phalanx -->
+                <geom name="collision_hand_left_middle_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                <!-- Collision geometry for middle fingertip/elastomer -->
+                <geom name="collision_hand_left_middle_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                <!-- Trace site for middle tip -->
+                <site name="trace_hand_left_middle_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
+                <!-- Tracking site for middle tip -->
+                <site name="left_middle_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
+              </body>
+            </body>
+          </body>
+        </body>
+        <!-- Ring finger -->
+        <body name="left_ring_MCP_VL" pos="0.0015 0.0103 0.0929" quat="0.499998 -0.500002 -0.5 -0.5">
+          <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
+          <joint name="left_ring_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708"/>
+          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL_visual"/>
+          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL"/>
+          <body name="left_ring_PP" quat="0.707105 0.707108 0 0">
+            <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
+            <joint name="left_ring_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP_visual" name="left_ring_PP_visual"/>
+            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP" name="left_ring_PP"/>
+            <!-- Collision for ring proximal phalanx -->
+            <geom name="collision_hand_left_ring_3" type="capsule" size="0.008 0.019" pos="0.023 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+            <body name="left_ring_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
+              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
+              <joint name="left_ring_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
+              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP_visual" name="left_ring_MP_visual"/>
+              <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP" name="left_ring_MP"/>
+              <!-- Collision for ring intermediate phalanx -->
+              <geom name="collision_hand_left_ring_2" type="capsule" size="0.008 0.013" pos="0.015 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+              <body name="left_ring_DP" pos="0.0315 0 0">
+                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
+                <joint name="left_ring_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
+                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP_visual" name="left_ring_DP_visual"/>
+                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP" name="left_ring_DP"/>
+                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="left_elastomer" name="left_ring_elastomer_visual"/>
+                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="left_elastomer" name="left_ring_elastomer"/>
+                <!-- Collision geometry for ring distal phalanx -->
+                <geom name="collision_hand_left_ring_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                <!-- Collision geometry for ring fingertip/elastomer -->
+                <geom name="collision_hand_left_ring_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                <!-- Trace site for ring tip -->
+                <site name="trace_hand_left_ring_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
+                <!-- Tracking site for ring tip -->
+                <site name="left_ring_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
+              </body>
+            </body>
+          </body>
+        </body>
+        <!-- Pinky finger -->
+        <body name="left_pinky_MC" pos="0.01136 0.0263 0.0869" quat="1.34924e-11 3.67321e-06 -1 -3.67321e-06">
+          <inertial pos="0.0107985 0.00598801 -0.0335125" quat="0.706956 0.000832392 0.0268047 0.706749" mass="0.12541" diaginertia="4.47765e-05 3.72569e-05 1.69876e-05"/>
+          <joint name="left_pinky_CMC" pos="0 0 0" axis="0 0 1" range="0 0.2618"/>
+          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_pinky_MC_visual" name="left_pinky_MC_visual"/>
+          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_pinky_MC" name="left_pinky_MC"/>
+          <!-- Collision for pinky metacarpal -->
+          <!-- <geom name="collision_hand_left_pinky_4" type="capsule" size="0.008 0.015" pos="0.008 -0.004 0.015" quat="0.866 -0.5 0 0" group="3" rgba="0 1 0 1" /> -->
+          <body name="left_pinky_MCP_VL" pos="0.00836 0.0048 0" quat="0.499998 -0.5 0.5 0.500002">
+            <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
+            <joint name="left_pinky_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708"/>
+            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL_visual"/>
+            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL"/>
+            <body name="left_pinky_PP" quat="0.707105 0.707108 0 0">
+              <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
+              <joint name="left_pinky_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP_visual" name="left_pinky_PP_visual"/>
+              <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP" name="left_pinky_PP"/>
+              <!-- Collision for pinky proximal phalanx -->
+              <geom name="collision_hand_left_pinky_3" type="capsule" size="0.008 0.019" pos="0.023 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+              <body name="left_pinky_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
+                <joint name="left_pinky_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
+                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP_visual" name="left_pinky_MP_visual"/>
+                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP" name="left_pinky_MP"/>
+                <!-- Collision for pinky intermediate phalanx -->
+                <geom name="collision_hand_left_pinky_2" type="capsule" size="0.008 0.013" pos="0.015 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                <body name="left_pinky_DP" pos="0.0315 0 0">
+                  <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
+                  <joint name="left_pinky_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
+                  <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP_visual" name="left_pinky_DP_visual"/>
+                  <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP" name="left_pinky_DP"/>
+                  <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="1" density="0" rgba="0.1 1 0.2 1" mesh="left_elastomer" name="left_pinky_elastomer_visual"/>
+                  <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.1 1 0.2 1" mesh="left_elastomer" name="left_pinky_elastomer"/>
+                  <!-- Collision geometry for pinky distal phalanx -->
+                  <geom name="collision_hand_left_pinky_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                  <!-- Collision geometry for pinky fingertip/elastomer -->
+                  <geom name="collision_hand_left_pinky_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                  <!-- Trace site for pinky tip -->
+                  <site name="trace_hand_left_pinky_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
+                  <!-- Tracking site for pinky tip -->
+                  <site name="left_pinky_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <!-- Base DOFs (for free-floating hand) -->
+    <position name="left_pos_x_position" joint="left_pos_x" kp="1000" />
+    <position name="left_pos_y_position" joint="left_pos_y" kp="1000" />
+    <position name="left_pos_z_position" joint="left_pos_z" kp="1000" />
+    <position name="left_rot_x_position" joint="left_rot_x" kp="1000" />
+    <position name="left_rot_y_position" joint="left_rot_y" kp="1000" />
+    <position name="left_rot_z_position" joint="left_rot_z" kp="1000" />
+    <!-- Thumb actuators -->
+    <position name="left_thumb_CMC_FE_ctrl" joint="left_thumb_CMC_FE" kp="6.95" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_thumb_CMC_AA_ctrl" joint="left_thumb_CMC_AA" kp="13.2" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_thumb_MCP_FE_ctrl" joint="left_thumb_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_thumb_MCP_AA_ctrl" joint="left_thumb_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_thumb_IP_ctrl" joint="left_thumb_IP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <!-- Index finger actuators -->
+    <position name="left_index_MCP_FE_ctrl" joint="left_index_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_index_MCP_AA_ctrl" joint="left_index_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_index_PIP_ctrl" joint="left_index_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_index_DIP_ctrl" joint="left_index_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <!-- Middle finger actuators -->
+    <position name="left_middle_MCP_FE_ctrl" joint="left_middle_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_middle_MCP_AA_ctrl" joint="left_middle_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_middle_PIP_ctrl" joint="left_middle_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_middle_DIP_ctrl" joint="left_middle_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <!-- Ring finger actuators -->
+    <position name="left_ring_MCP_FE_ctrl" joint="left_ring_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_ring_MCP_AA_ctrl" joint="left_ring_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_ring_PIP_ctrl" joint="left_ring_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_ring_DIP_ctrl" joint="left_ring_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <!-- Pinky actuators -->
+    <position name="left_pinky_CMC_ctrl" joint="left_pinky_CMC" kp="1.38" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_pinky_MCP_FE_ctrl" joint="left_pinky_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_pinky_MCP_AA_ctrl" joint="left_pinky_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_pinky_PIP_ctrl" joint="left_pinky_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_pinky_DIP_ctrl" joint="left_pinky_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+  </actuator>
+  <contact>
+    <exclude body1="left_hand_C_MC" body2="left_thumb_CMC_VL"/>
+    <exclude body1="left_hand_C_MC" body2="left_hand_C_MC"/>
+    <exclude body1="left_hand_C_MC" body2="left_thumb_MC"/>
+    <exclude body1="left_thumb_MC" body2="left_thumb_MCP_VL"/>
+    <exclude body1="left_thumb_MC" body2="left_thumb_PP"/>
+    <exclude body1="left_thumb_MCP_VL" body2="left_thumb_PP"/>
+    <exclude body1="left_thumb_PP" body2="left_thumb_DP"/>
+    <exclude body1="left_hand_C_MC" body2="left_index_MCP_VL"/>
+    <exclude body1="left_hand_C_MC" body2="left_index_PP"/>
+    <exclude body1="left_index_MCP_VL" body2="left_index_PP"/>
+    <exclude body1="left_index_PP" body2="left_index_MP"/>
+    <exclude body1="left_index_MP" body2="left_index_DP"/>
+    <exclude body1="left_hand_C_MC" body2="left_middle_MCP_VL"/>
+    <exclude body1="left_hand_C_MC" body2="left_middle_PP"/>
+    <exclude body1="left_middle_MCP_VL" body2="left_middle_PP"/>
+    <exclude body1="left_middle_PP" body2="left_middle_MP"/>
+    <exclude body1="left_middle_MP" body2="left_middle_DP"/>
+    <exclude body1="left_hand_C_MC" body2="left_ring_MCP_VL"/>
+    <exclude body1="left_hand_C_MC" body2="left_ring_PP"/>
+    <exclude body1="left_ring_MCP_VL" body2="left_ring_PP"/>
+    <exclude body1="left_ring_PP" body2="left_ring_MP"/>
+    <exclude body1="left_ring_MP" body2="left_ring_DP"/>
+    <exclude body1="left_hand_C_MC" body2="left_pinky_MC"/>
+    <exclude body1="left_pinky_MC" body2="left_pinky_MCP_VL"/>
+    <exclude body1="left_pinky_MC" body2="left_pinky_PP"/>
+    <exclude body1="left_pinky_MCP_VL" body2="left_pinky_PP"/>
+    <exclude body1="left_pinky_PP" body2="left_pinky_MP"/>
+    <exclude body1="left_pinky_MP" body2="left_pinky_DP"/>
+  </contact>
+</mujoco>

processed/oakink/assets/robots/sharpa/left_sharpa_wave.xml ADDED Viewed

	@@ -0,0 +1,250 @@

+<mujoco model="left_sharpa_wave">
+  <compiler angle="radian" meshdir="meshes/"/>
+  <asset>
+    <mesh name="left_hand_C_MC_visual" file="left_hand_C_MC_visual_.STL"/>
+    <mesh name="left_hand_C_MC" file="left_hand_C_MC.STL"/>
+    <mesh name="left_thumb_CMC_VL_visual" file="left_thumb_CMC_VL.STL"/>
+    <mesh name="left_thumb_MC_visual" file="left_thumb_MC_visual.STL"/>
+    <mesh name="left_thumb_MC" file="left_thumb_MC.STL"/>
+    <mesh name="left_thumb_MCP_VL_visual" file="left_thumb_MCP_VL_visual.STL"/>
+    <mesh name="left_thumb_PP_visual" file="left_thumb_PP_visual.STL"/>
+    <mesh name="left_thumb_PP" file="left_thumb_PP.STL"/>
+    <mesh name="left_thumb_DP_visual" file="left_thumb_DP_visual.STL"/>
+    <mesh name="left_thumb_DP" file="left_thumb_DP.STL"/>
+    <mesh name="thumb_elastomer_surface" file="thumb_elastomer_surface.STL"/>
+    <mesh name="thumb_elastomer" file="thumb_elastomer.STL"/>
+    <mesh name="left_MCP_VL_visual" file="left_MCP_VL_visual.STL"/>
+    <mesh name="MCP_VL" file="MCP_VL.STL"/>
+    <mesh name="left_PP_visual" file="left_PP_visual.STL"/>
+    <mesh name="left_PP" file="left_PP.STL"/>
+    <mesh name="left_MP_visual" file="left_MP_visual.STL"/>
+    <mesh name="left_MP" file="left_MP.STL"/>
+    <mesh name="left_DP_visual" file="left_DP_visual.STL"/>
+    <mesh name="left_DP" file="left_DP.STL"/>
+    <mesh name="elastomer_surface" file="elastomer_surface.STL"/>
+    <mesh name="elastomer" file="elastomer.STL"/>
+    <mesh name="left_pinky_MC_visual" file="left_pinky_MC_visual.STL"/>
+    <mesh name="left_pinky_MC" file="left_pinky_MC.STL"/>
+  </asset>
+  <default>
+    <default class="CMC_joint">
+      <joint armature="0.0032" frictionloss="0.132" damping="4.20E-05"/>
+    </default>
+    <default class="PCMC_joint">
+      <joint armature="0.00012" frictionloss="0.012" damping="4.20E-05"/>
+    </default>
+    <default class="MCP_joint">
+      <joint armature="0.00265" frictionloss="0.07456" damping="2.38E-05"/>
+    </default>
+    <default class="PIP_joint">
+      <joint armature="0.0006" frictionloss="0.01276"  damping="4.06E-06"/>
+    </default>
+    <default class="DIP_joint">
+      <joint armature="0.00042" frictionloss="0.00378738"  damping="1.21E-06"/>
+    </default>
+    <default class="elastomer_geom">
+      <geom solref="0.06 0.9"/>
+    </default>
+  </default>
+  <worldbody>
+    <body name="left_hand_C_MC" pos="0 0 0">
+      <inertial pos="-0.00216 -0.00536 0.04011" quat="0.693082 0.0757241 -0.0659362 0.713831" mass="0.6506" diaginertia="0.000814964 0.000674248 0.00027314"/>
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_hand_C_MC_visual" name="left_hand_C_MC_visual"/>
+      <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_hand_C_MC" name="left_hand_C_MC"/>
+      <body name="left_thumb_CMC_VL" pos="0.01 -0.026 0.0214" quat="0.707105 0 0 -0.707108">
+        <inertial pos="-0.00065 -0.0002 0" quat="0.557664 0.434754 -0.557664 0.434754" mass="0.0025" diaginertia="2.6e-07 2.12661e-07 1.34339e-07"/>
+        <joint name="left_thumb_CMC_FE" pos="0 0 0" axis="0 0 1" range="-0.1745 1.9199" class="CMC_joint"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_CMC_VL_visual"/>
+        <body name="left_thumb_MC" pos="0 -0.005 0" quat="0.65328 0.653282 -0.270598 0.270599">
+          <inertial pos="0.03643 -0.01024 -0.00517" quat="0.154462 0.683763 0.151259 0.696943" mass="0.13587" diaginertia="4.69153e-05 4.29066e-05 1.92101e-05"/>
+          <joint name="left_thumb_CMC_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" class="CMC_joint"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_MC_visual" name="left_thumb_MC_visual"/>
+          <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_MC" name="left_thumb_MC"/>
+          <body name="left_thumb_MCP_VL" pos="0.065 -0.006 -0.010392" quat="0.965926 -0.25882 0 0">
+            <inertial pos="-1.29e-09 1.1e-10 0" quat="0.484363 0.515163 -0.484363 0.515163" mass="8e-05" diaginertia="7.9e-08 6.40993e-08 3.79007e-08"/>
+            <joint name="left_thumb_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.5236 1.3963" class="MCP_joint"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_MCP_VL_visual"/>
+            <body name="left_thumb_PP" quat="0.707105 0.707108 0 0">
+              <inertial pos="0.021256 -0.00095 0.00092" quat="0.511613 0.44358 0.554609 0.483631" mass="0.03078" diaginertia="6.08344e-06 5.91207e-06 1.22148e-06"/>
+              <joint name="left_thumb_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" class="MCP_joint"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_PP_visual" name="left_thumb_PP_visual"/>
+              <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_PP" name="left_thumb_PP"/>
+              <body name="left_thumb_DP" pos="0.039 0 0" quat="0.707105 -0.707108 0 0">
+                <inertial pos="0.00823857 -0.00178179 -0.00099978" quat="-0.255976 0.71385 -0.187437 0.62431" mass="0.009981" diaginertia="1.09052e-06 1.04137e-06 2.95184e-07"/>
+                <joint name="left_thumb_IP" pos="0 0 0" axis="0 0 1" range="0 1.7453" class="PIP_joint"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_DP_visual" name="left_thumb_DP_visual"/>
+                <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_DP" name="left_thumb_DP"/>
+                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 1 0.2 1" mesh="thumb_elastomer"/>
+                <geom contype="1" conaffinity="1" group="3" quat="0.5 0.5 -0.5 0.5" type="mesh" rgba="0.2 1 0.2 1" mesh="thumb_elastomer" name="left_thumb_elastomer" class="elastomer_geom"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_index_MCP_VL" pos="0.001 -0.0303 0.0959" quat="0.499998 -0.500002 -0.5 -0.5">
+        <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
+        <joint name="left_index_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708" class="MCP_joint"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL_visual" name="left_index_MCP_VL_visual"/>
+        <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="MCP_VL" name="left_index_MCP_VL"/>
+        <body name="left_index_PP" quat="0.707105 0.707108 0 0">
+          <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
+          <joint name="left_index_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" class="MCP_joint"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP_visual" name="left_index_PP_visual"/>
+          <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP" name="left_index_PP"/>
+          <body name="left_index_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
+            <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
+            <joint name="left_index_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453" class="PIP_joint"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP_visual" name="left_index_MP_visual"/>
+            <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP" name="left_index_MP"/>
+            <body name="left_index_DP" pos="0.0315 0 0">
+              <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
+              <joint name="left_index_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963" class="DIP_joint"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP_visual" name="left_index_DP_visual"/>
+              <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP" name="left_index_DP"/>
+              <geom quat="0.5 0.5 -0.5 0.5" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 1 0.2 1" solref="0.06 0.9" mesh="elastomer" name="left_index_elastomer_visual"/>
+              <geom contype="1" conaffinity="1" group="3" quat="0.5 0.5 -0.5 0.5" type="mesh" rgba="0.2 1 0.2 1" mesh="elastomer" name="left_index_elastomer"/>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_middle_MCP_VL" pos="0 -0.01 0.0989" quat="0.499998 -0.500002 -0.5 -0.5">
+        <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
+        <joint name="left_middle_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708" class="MCP_joint"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL_visual" name="left_middle_MCP_VL_visual"/>
+        <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="MCP_VL" name="left_middle_MCP_VL"/>
+        <body name="left_middle_PP" quat="0.707105 0.707108 0 0">
+          <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
+          <joint name="left_middle_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" class="MCP_joint"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP_visual" name="left_middle_PP_visual"/>
+          <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP" name="left_middle_PP"/>
+          <body name="left_middle_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
+            <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
+            <joint name="left_middle_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453" class="PIP_joint"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP_visual" name="left_middle_MP_visual"/>
+            <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP" name="left_middle_MP"/>
+            <body name="left_middle_DP" pos="0.0315 0 0">
+              <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
+              <joint name="left_middle_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963" class="DIP_joint"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP_visual" name="left_middle_DP_visual"/>
+              <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP" name="left_middle_DP"/>
+              <geom quat="0.5 0.5 -0.5 0.5" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 1 0.2 1" solref="0.06 0.9" mesh="elastomer" name="left_middle_elastomer_visual"/>
+              <geom contype="1" conaffinity="1" group="3" quat="0.5 0.5 -0.5 0.5" type="mesh" rgba="0.2 1 0.2 1" mesh="elastomer" name="left_middle_elastomer"/>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_ring_MCP_VL" pos="0.0015 0.0103 0.0929" quat="0.499998 -0.500002 -0.5 -0.5">
+        <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
+        <joint name="left_ring_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708" class="MCP_joint"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL_visual" name="left_ring_MCP_VL_visual"/>
+        <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="MCP_VL" name="left_ring_MCP_VL"/>
+        <body name="left_ring_PP" quat="0.707105 0.707108 0 0">
+          <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
+          <joint name="left_ring_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" class="MCP_joint"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP_visual" name="left_ring_PP_visual"/>
+          <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP" name="left_ring_PP"/>
+          <body name="left_ring_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
+            <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
+            <joint name="left_ring_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453" class="PIP_joint"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP_visual" name="left_ring_MP_visual"/>
+            <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP" name="left_ring_MP"/>
+            <body name="left_ring_DP" pos="0.0315 0 0">
+              <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
+              <joint name="left_ring_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963" class="DIP_joint"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP_visual" name="left_ring_DP_visual"/>
+              <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP" name="left_ring_DP"/>
+              <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 1 0.2 1" solref="0.06 0.9" mesh="elastomer" name="left_ring_elastomer_visual"/>
+              <geom contype="1" conaffinity="1" group="3" quat="0.499998 0.5 -0.5 0.500002" type="mesh" rgba="0.2 1 0.2 1" mesh="elastomer" name="left_ring_elastomer"/>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_pinky_MC" pos="0.01136 0.0263 0.0869" quat="1.34924e-11 3.67321e-06 -1 -3.67321e-06">
+        <inertial pos="0.0107985 0.00598801 -0.0335125" quat="0.706956 0.000832392 0.0268047 0.706749" mass="0.12541" diaginertia="4.47765e-05 3.72569e-05 1.69876e-05"/>
+        <joint name="left_pinky_CMC" pos="0 0 0" axis="0 0 1" range="0 0.2618" class="PCMC_joint"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_pinky_MC_visual" name="left_pinky_MC_visual"/>
+        <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_pinky_MC" name="left_pinky_MC"/>
+        <body name="left_pinky_MCP_VL" pos="0.00836 0.0048 0" quat="0.499998 -0.5 0.5 0.500002">
+          <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
+          <joint name="left_pinky_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708" class="MCP_joint"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL_visual" name="left_pinky_MCP_VL_visual"/>
+          <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="MCP_VL" name="left_pinky_MCP_VL"/>
+          <body name="left_pinky_PP" quat="0.707105 0.707108 0 0">
+            <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
+            <joint name="left_pinky_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" class="MCP_joint"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP_visual" name="left_pinky_PP_visual"/>
+            <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP" name="left_pinky_PP"/>
+            <body name="left_pinky_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
+              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
+              <joint name="left_pinky_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453" class="PIP_joint"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP_visual" name="left_pinky_MP_visual"/>
+              <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP" name="left_pinky_MP"/>
+              <body name="left_pinky_DP" pos="0.0315 0 0">
+                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
+                <joint name="left_pinky_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963" class="DIP_joint"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP_visual" name="left_pinky_DP_visual"/>
+                <geom type="mesh" contype="1" conaffinity="1" group="3"  rgba="0.79216 0.81961 0.93333 1" mesh="left_DP" name="left_pinky_DP"/>
+                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 1 0.2 1" solref="0.06 0.9" mesh="elastomer" name="left_pinky_elastomer_visual"/>
+                <geom quat="0.5 0.5 -0.5 0.5" contype="1" conaffinity="1" group="3" type="mesh" rgba="0.2 1 0.2 1" mesh="elastomer" name="left_pinky_elastomer"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="left_thumb_CMC_FE_ctrl" joint="left_thumb_CMC_FE"  kp="6.95" dampratio="0.9"  inheritrange="1.0"/>
+    <position name="left_thumb_CMC_AA_ctrl" joint="left_thumb_CMC_AA"  kp="13.2" dampratio="0.9"  inheritrange="1.0"/>
+    <position name="left_thumb_MCP_FE_ctrl" joint="left_thumb_MCP_FE"  kp="4.76" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_thumb_MCP_AA_ctrl" joint="left_thumb_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_thumb_IP_ctrl" joint="left_thumb_IP"kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_index_MCP_FE_ctrl" joint="left_index_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_index_MCP_AA_ctrl" joint="left_index_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_index_PIP_ctrl" joint="left_index_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_index_DIP_ctrl" joint="left_index_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_middle_MCP_FE_ctrl" joint="left_middle_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_middle_MCP_AA_ctrl" joint="left_middle_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_middle_PIP_ctrl" joint="left_middle_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_middle_DIP_ctrl" joint="left_middle_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_ring_MCP_FE_ctrl" joint="left_ring_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_ring_MCP_AA_ctrl" joint="left_ring_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_ring_PIP_ctrl" joint="left_ring_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_ring_DIP_ctrl" joint="left_ring_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_pinky_CMC_ctrl" joint="left_pinky_CMC" kp="1.38" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_pinky_MCP_FE_ctrl" joint="left_pinky_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_pinky_MCP_AA_ctrl" joint="left_pinky_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_pinky_PIP_ctrl" joint="left_pinky_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <position name="left_pinky_DIP_ctrl" joint="left_pinky_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+  </actuator>
+  <contact>
+    <exclude body1="left_hand_C_MC" body2="left_thumb_CMC_VL"/>
+    <exclude body1="left_hand_C_MC" body2="left_hand_C_MC"/>
+    <exclude body1="left_hand_C_MC" body2="left_thumb_MC"/>
+    <exclude body1="left_thumb_MC" body2="left_thumb_MCP_VL"/>
+    <exclude body1="left_thumb_MC" body2="left_thumb_PP"/>
+    <exclude body1="left_thumb_MCP_VL" body2="left_thumb_PP"/>
+    <exclude body1="left_thumb_PP" body2="left_thumb_DP"/>
+    <exclude body1="left_hand_C_MC" body2="left_index_MCP_VL"/>
+    <exclude body1="left_hand_C_MC" body2="left_index_PP"/>
+    <exclude body1="left_index_MCP_VL" body2="left_index_PP"/>
+    <exclude body1="left_index_PP" body2="left_index_MP"/>
+    <exclude body1="left_index_MP" body2="left_index_DP"/>
+    <exclude body1="left_hand_C_MC" body2="left_middle_MCP_VL"/>
+    <exclude body1="left_hand_C_MC" body2="left_middle_PP"/>
+    <exclude body1="left_middle_MCP_VL" body2="left_middle_PP"/>
+    <exclude body1="left_middle_PP" body2="left_middle_MP"/>
+    <exclude body1="left_middle_MP" body2="left_middle_DP"/>
+    <exclude body1="left_hand_C_MC" body2="left_ring_MCP_VL"/>
+    <exclude body1="left_hand_C_MC" body2="left_ring_PP"/>
+    <exclude body1="left_ring_MCP_VL" body2="left_ring_PP"/>
+    <exclude body1="left_ring_PP" body2="left_ring_MP"/>
+    <exclude body1="left_ring_MP" body2="left_ring_DP"/>
+    <exclude body1="left_hand_C_MC" body2="left_pinky_MC"/>
+    <exclude body1="left_pinky_MC" body2="left_pinky_MCP_VL"/>
+    <exclude body1="left_pinky_MC" body2="left_pinky_PP"/>
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+    <exclude body1="left_pinky_PP" body2="left_pinky_MP"/>
+    <exclude body1="left_pinky_MP" body2="left_pinky_DP"/>
+  </contact>
+</mujoco>

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+<mujoco model="right_sharpa">
+  <compiler angle="radian" meshdir="meshes/" autolimits="true"/>
+  <option timestep="0.01" iterations="6" solver="CG" jacobian="auto">
+    <flag eulerdamp="disable" />
+  </option>
+  <default>
+    <!-- Disable all contacts by default, use explicit collision pairs -->
+    <geom density="800" condim="1" contype="0" conaffinity="0" />
+    <!-- Position controller settings (response time ~1s) -->
+    <position kp="300" dampratio="1.0" inheritrange="1" />
+    <!-- Joint dynamics -->
+    <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+    <!-- Trace sites for visualization -->
+    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+  </default>
+  <asset>
+    <!-- Skybox texture -->
+    <texture type="skybox" builtin="gradient"
+             rgb1="1 1 1" rgb2="1 1 1"
+             width="512" height="3072" />
+    <!-- Ground plane texture -->
+    <texture type="2d" name="right_groundplane" builtin="checker"
+             mark="edge" rgb1="1 1 1" rgb2="1 1 1"
+             markrgb="0 0 0" width="300" height="300" />
+    <!-- Ground material -->
+    <material name="right_groundplane" texture="right_groundplane"
+              texuniform="true" texrepeat="5 5" reflectance="0.2" />
+    <!-- Hand meshes -->
+    <mesh name="right_hand_C_MC_visual" file="right_hand_C_MC_visual_.STL"/>
+    <mesh name="right_hand_C_MC" file="right_hand_C_MC.STL"/>
+    <mesh name="right_thumb_CMC_VL_visual" file="right_thumb_CMC_VL_visual.STL"/>
+    <mesh name="right_thumb_MC_visual" file="right_thumb_MC_visual.STL"/>
+    <mesh name="right_thumb_MC" file="right_thumb_MC.STL"/>
+    <mesh name="right_thumb_MCP_VL_visual" file="right_thumb_MCP_VL_visual.STL"/>
+    <mesh name="right_thumb_PP_visual" file="right_thumb_PP_visual.STL"/>
+    <mesh name="right_thumb_PP" file="right_thumb_PP.STL"/>
+    <mesh name="right_thumb_DP_visual" file="right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_DP" file="right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_elastomer" file="thumb_elastomer.STL"/>
+    <mesh name="right_MCP_VL_visual" file="right_MCP_VL_visual.STL"/>
+    <mesh name="right_MCP_VL" file="MCP_VL.STL"/>
+    <mesh name="right_PP_visual" file="right_PP_visual.STL"/>
+    <mesh name="right_PP" file="right_PP.STL"/>
+    <mesh name="right_MP_visual" file="right_MP_visual.STL"/>
+    <mesh name="right_MP" file="right_MP.STL"/>
+    <mesh name="right_DP_visual" file="right_DP_visual.STL"/>
+    <mesh name="right_DP" file="right_DP_visual.STL"/>
+    <mesh name="right_elastomer" file="elastomer.STL"/>
+    <mesh name="right_pinky_MC_visual" file="right_pinky_MC_visual.STL"/>
+    <mesh name="right_pinky_MC" file="right_pinky_MC.STL"/>
+  </asset>
+  <worldbody>
+    <!-- Directional light -->
+    <light pos="0 0 3" dir="0 0 -1" directional="true"/>
+    <!-- Tracking camera -->
+    <camera name="right_track" pos="0.868 0.348 -0.175"
+            xyaxes="-0.037 0.999 -0.000 -0.011 -0.000 1.000" mode="trackcom"/>
+    <!-- Right hand with 6-DOF base -->
+    <body name="right_hand_base" pos="0 0 0.2">
+      <!-- Base 6-DOF joints (3 translation + 3 rotation) -->
+      <joint name="right_pos_x" type="slide" axis="1 0 0" range="-5 5"/>
+      <joint name="right_pos_y" type="slide" axis="0 1 0" range="-5 5"/>
+      <joint name="right_pos_z" type="slide" axis="0 0 1" range="-5 5"/>
+      <joint name="right_rot_x" type="hinge" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="right_rot_y" type="hinge" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="right_rot_z" type="hinge" axis="0 0 1" range="-6.28 6.28"/>
+      <!-- Hand base body -->
+      <body name="right_hand_C_MC" pos="0 0 0">
+        <inertial pos="-0.00216 0.00536 0.04011" quat="0.713832 -0.0659364 0.0757239 0.693082" mass="0.6506" diaginertia="0.000814964 0.000674257 0.00027314"/>
+        <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC_visual" name="right_hand_C_MC_visual"/>
+        <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC" name="right_hand_C_MC"/>
+        <!-- Collision geometry for palm -->
+        <geom name="collision_hand_right_palm_0" type="box" size="0.02 0.04 0.04" pos="0 0 0.05" group="3" rgba="0 1 0 1" />
+        <!-- Tracking site for palm (Z-axis forward, X-axis down) -->
+        <site name="right_palm" pos="0 0 0.05" euler="0 0 0" size="0.01" type="sphere" rgba="1 1 0 1" group="3" />
+        <!-- Thumb -->
+        <body name="right_thumb_CMC_VL" pos="0.01 0.026 0.0214" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06">
+          <inertial pos="-0.00065 0.0002 0" quat="0.434754 0.557664 -0.434754 0.557664" mass="0.0025" diaginertia="2.6e-07 2.12661e-07 1.34339e-07"/>
+          <joint name="right_thumb_CMC_FE" pos="0 0 0" axis="0 0 1" range="-0.1745 1.9199"/>
+          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_CMC_VL_visual"/>
+          <body name="right_thumb_MC" pos="0 -0.005 0" quat="0.65328 -0.653282 0.270598 0.270599">
+            <inertial pos="0.03643 -0.01024 0.00517" quat="-0.151259 0.696943 -0.154462 0.683763" mass="0.13587" diaginertia="4.69153e-05 4.29066e-05 1.92101e-05"/>
+            <joint name="right_thumb_CMC_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC_visual" name="right_thumb_MC_visual"/>
+            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC" name="right_thumb_MC"/>
+            <!-- Collision for thumb metacarpal -->
+            <geom name="collision_hand_right_thumb_3" type="capsule" size="0.01 0.025" pos="0.032 -0.003 0.005" quat="1 0 1 0" group="3" rgba="0 1 0 1" />
+            <body name="right_thumb_MCP_VL" pos="0.065 -0.006 0.010392" quat="0.965926 0.25882 0 0">
+              <inertial pos="-1.29e-09 -1.1e-10 0" quat="0.515163 0.484363 -0.515163 0.484363" mass="8e-05" diaginertia="7.9e-08 6.40993e-08 3.79007e-08"/>
+              <joint name="right_thumb_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.5236 1.3963"/>
+              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MCP_VL_visual"/>
+              <body name="right_thumb_PP" quat="0.707105 -0.707108 0 0">
+                <inertial pos="0.021256 -0.00095 -0.00092" quat="0.44358 0.511613 0.483631 0.554609" mass="0.03078" diaginertia="6.08344e-06 5.91207e-06 1.22148e-06"/>
+                <joint name="right_thumb_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP_visual" name="right_thumb_PP_visual"/>
+                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP" name="right_thumb_PP"/>
+                <!-- Collision for thumb proximal phalanx -->
+                <geom name="collision_hand_right_thumb_2" type="capsule" size="0.008 0.015" pos="0.019 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                <body name="right_thumb_DP" pos="0.039 0 0" quat="0.707105 0.707108 0 0">
+                  <inertial pos="0.00821817 -0.00177722 -0.000997218" quat="-0.255985 0.713848 -0.187441 0.624306" mass="0.007981" diaginertia="1.0905e-06 1.04136e-06 2.95182e-07"/>
+                  <joint name="right_thumb_IP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
+                  <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP_visual" name="right_thumb_DP_visual"/>
+                  <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP" name="right_thumb_DP"/>
+                  <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_thumb_elastomer" name="right_thumb_elastomer_visual"/>
+                  <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_thumb_elastomer" name="right_thumb_elastomer"/>
+                  <!-- Collision geometry for thumb distal phalanx -->
+                  <geom name="collision_hand_right_thumb_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                  <!-- Collision geometry for thumb tip/elastomer -->
+                  <geom name="collision_hand_right_thumb_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                  <!-- Trace site for thumb tip -->
+                  <site name="trace_hand_right_thumb_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
+                  <!-- Tracking site for thumb tip -->
+                  <site name="right_thumb_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <!-- Index finger -->
+        <body name="right_index_MCP_VL" pos="0.001 0.0303 0.0959" quat="0.499998 -0.500002 -0.5 -0.5">
+          <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
+          <joint name="right_index_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708"/>
+          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
+          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/>
+          <body name="right_index_PP" quat="0.707105 -0.707108 0 0">
+            <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
+            <joint name="right_index_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual" name="right_index_PP_visual"/>
+            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP" name="right_index_PP"/>
+            <!-- Collision for index proximal phalanx -->
+            <geom name="collision_hand_right_index_3" type="capsule" size="0.008 0.019" pos="0.023 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+            <body name="right_index_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
+              <joint name="right_index_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
+              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual" name="right_index_MP_visual"/>
+              <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP" name="right_index_MP"/>
+              <!-- Collision for index intermediate phalanx -->
+              <geom name="collision_hand_right_index_2" type="capsule" size="0.008 0.013" pos="0.015 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+              <body name="right_index_DP" pos="0.0315 0 0">
+                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
+                <joint name="right_index_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
+                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual" name="right_index_DP_visual"/>
+                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP" name="right_index_DP"/>
+                <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_elastomer" name="right_index_elastomer_visual"/>
+                <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer" name="right_index_elastomer"/>
+                <!-- Collision geometry for index distal phalanx -->
+                <geom name="collision_hand_right_index_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                <!-- Collision geometry for index fingertip/elastomer -->
+                <geom name="collision_hand_right_index_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                <!-- Trace site for index tip -->
+                <site name="trace_hand_right_index_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
+                <!-- Tracking site for index tip -->
+                <site name="right_index_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
+              </body>
+            </body>
+          </body>
+        </body>
+        <!-- Middle finger -->
+        <body name="right_middle_MCP_VL" pos="0 0.01 0.0989" quat="0.499998 -0.500002 -0.5 -0.5">
+          <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
+          <joint name="right_middle_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708"/>
+          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
+          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/>
+          <body name="right_middle_PP" quat="0.707105 -0.707108 0 0">
+            <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
+            <joint name="right_middle_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual" name="right_middle_PP_visual"/>
+            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP" name="right_middle_PP"/>
+            <!-- Collision for middle proximal phalanx -->
+            <geom name="collision_hand_right_middle_3" type="capsule" size="0.008 0.019" pos="0.023 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+            <body name="right_middle_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
+              <joint name="right_middle_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
+              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual" name="right_middle_MP_visual"/>
+              <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP" name="right_middle_MP"/>
+              <!-- Collision for middle intermediate phalanx -->
+              <geom name="collision_hand_right_middle_2" type="capsule" size="0.008 0.013" pos="0.015 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+              <body name="right_middle_DP" pos="0.0315 0 0">
+                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
+                <joint name="right_middle_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
+                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual" name="right_middle_DP_visual"/>
+                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP" name="right_middle_DP"/>
+                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_elastomer" name="right_middle_elastomer_visual"/>
+                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer" name="right_middle_elastomer"/>
+                <!-- Collision geometry for middle distal phalanx -->
+                <geom name="collision_hand_right_middle_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                <!-- Collision geometry for middle fingertip/elastomer -->
+                <geom name="collision_hand_right_middle_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                <!-- Trace site for middle tip -->
+                <site name="trace_hand_right_middle_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
+                <!-- Tracking site for middle tip -->
+                <site name="right_middle_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
+              </body>
+            </body>
+          </body>
+        </body>
+        <!-- Ring finger -->
+        <body name="right_ring_MCP_VL" pos="0.0015 -0.0103 0.0929" quat="0.499998 -0.500002 -0.5 -0.5">
+          <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
+          <joint name="right_ring_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708"/>
+          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
+          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/>
+          <body name="right_ring_PP" quat="0.707105 -0.707108 0 0">
+            <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
+            <joint name="right_ring_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual" name="right_ring_PP_visual"/>
+            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP" name="right_ring_PP"/>
+            <!-- Collision for ring proximal phalanx -->
+            <geom name="collision_hand_right_ring_3" type="capsule" size="0.008 0.019" pos="0.023 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+            <body name="right_ring_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0">
+              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
+              <joint name="right_ring_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
+              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual" name="right_ring_MP_visual"/>
+              <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP" name="right_ring_MP"/>
+              <!-- Collision for ring intermediate phalanx -->
+              <geom name="collision_hand_right_ring_2" type="capsule" size="0.008 0.013" pos="0.015 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+              <body name="right_ring_DP" pos="0.0315 0 0">
+                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
+                <joint name="right_ring_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
+                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual" name="right_ring_DP_visual"/>
+                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP" name="right_ring_DP"/>
+                <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_elastomer" name="right_ring_elastomer_visual"/>
+                <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer" name="right_ring_elastomer"/>
+                <!-- Collision geometry for ring distal phalanx -->
+                <geom name="collision_hand_right_ring_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                <!-- Collision geometry for ring fingertip/elastomer -->
+                <geom name="collision_hand_right_ring_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                <!-- Trace site for ring tip -->
+                <site name="trace_hand_right_ring_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
+                <!-- Tracking site for ring tip -->
+                <site name="right_ring_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
+              </body>
+            </body>
+          </body>
+        </body>
+        <!-- Pinky finger -->
+        <body name="right_pinky_MC" pos="0.01136 -0.0263 0.0869" quat="-3.67321e-06 0 0 1">
+          <inertial pos="0.0107985 0.00598801 0.0335125" quat="0.706956 -0.000832392 -0.0268047 0.706749" mass="0.12541" diaginertia="4.47765e-05 3.72569e-05 1.69876e-05"/>
+          <joint name="right_pinky_CMC" pos="0 0 0" axis="0 0 1" range="0 0.2618"/>
+          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC_visual" name="right_pinky_MC_visual"/>
+          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC" name="right_pinky_MC"/>
+          <!-- Collision for pinky metacarpal -->
+          <!-- <geom name="collision_hand_right_pinky_4" type="capsule" size="0.008 0.015" pos="0.008 0.004 0.015" quat="0.866 0.5 0 0" group="3" rgba="0 1 0 1" /> -->
+          <body name="right_pinky_MCP_VL" pos="0.00836 0.0048 0" quat="0.499998 0.5 -0.5 0.500002">
+            <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
+            <joint name="right_pinky_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708"/>
+            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
+            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/>
+            <body name="right_pinky_PP" quat="0.707105 -0.707108 0 0">
+              <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
+              <joint name="right_pinky_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual" name="right_pinky_PP_visual"/>
+              <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP" name="right_pinky_PP"/>
+              <!-- Collision for pinky proximal phalanx -->
+              <geom name="collision_hand_right_pinky_3" type="capsule" size="0.008 0.019" pos="0.023 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+              <body name="right_pinky_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0">
+                <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
+                <joint name="right_pinky_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
+                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual" name="right_pinky_MP_visual"/>
+                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP" name="right_pinky_MP"/>
+                <!-- Collision for pinky intermediate phalanx -->
+                <geom name="collision_hand_right_pinky_2" type="capsule" size="0.008 0.013" pos="0.015 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                <body name="right_pinky_DP" pos="0.0315 0 0">
+                  <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
+                  <joint name="right_pinky_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
+                  <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual" name="right_pinky_DP_visual"/>
+                  <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP" name="right_pinky_DP"/>
+                  <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.1 1 0.2 1" mesh="right_elastomer" name="right_pinky_elastomer_visual"/>
+                  <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.1 1 0.2 1" mesh="right_elastomer" name="right_pinky_elastomer"/>
+                  <!-- Collision geometry for pinky distal phalanx -->
+                  <geom name="collision_hand_right_pinky_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                  <!-- Collision geometry for pinky fingertip/elastomer -->
+                  <geom name="collision_hand_right_pinky_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
+                  <!-- Trace site for pinky tip -->
+                  <site name="trace_hand_right_pinky_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
+                  <!-- Tracking site for pinky tip -->
+                  <site name="right_pinky_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <!-- Base DOFs (for free-floating hand) -->
+    <position name="right_pos_x_position" joint="right_pos_x" kp="1000" />
+    <position name="right_pos_y_position" joint="right_pos_y" kp="1000" />
+    <position name="right_pos_z_position" joint="right_pos_z" kp="1000" />
+    <position name="right_rot_x_position" joint="right_rot_x" kp="1000" />
+    <position name="right_rot_y_position" joint="right_rot_y" kp="1000" />
+    <position name="right_rot_z_position" joint="right_rot_z" kp="1000" />
+    <!-- Thumb actuators -->
+    <position name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" kp="6.95" dampratio="0.9" inheritrange="1.0"/>
+    <position name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" kp="13.2" dampratio="0.9" inheritrange="1.0"/>
+    <position name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
+    <position name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
+    <position name="right_thumb_IP_ctrl" joint="right_thumb_IP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <!-- Index finger actuators -->
+    <position name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
+    <position name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
+    <position name="right_index_PIP_ctrl" joint="right_index_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <position name="right_index_DIP_ctrl" joint="right_index_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <!-- Middle finger actuators -->
+    <position name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
+    <position name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
+    <position name="right_middle_PIP_ctrl" joint="right_middle_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <position name="right_middle_DIP_ctrl" joint="right_middle_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <!-- Ring finger actuators -->
+    <position name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
+    <position name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
+    <position name="right_ring_PIP_ctrl" joint="right_ring_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <position name="right_ring_DIP_ctrl" joint="right_ring_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <!-- Pinky actuators -->
+    <position name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" kp="1.38" dampratio="0.9" inheritrange="1.0"/>
+    <position name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
+    <position name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
+    <position name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+    <position name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
+  </actuator>
+  <contact>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_CMC_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_hand_C_MC"/>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_MC"/>
+    <exclude body1="right_thumb_MC" body2="right_thumb_MCP_VL"/>
+    <exclude body1="right_thumb_MC" body2="right_thumb_PP"/>
+    <exclude body1="right_thumb_MCP_VL" body2="right_thumb_PP"/>
+    <exclude body1="right_thumb_PP" body2="right_thumb_DP"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_PP"/>
+    <exclude body1="right_index_MCP_VL" body2="right_index_PP"/>
+    <exclude body1="right_index_PP" body2="right_index_MP"/>
+    <exclude body1="right_index_MP" body2="right_index_DP"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_PP"/>
+    <exclude body1="right_middle_MCP_VL" body2="right_middle_PP"/>
+    <exclude body1="right_middle_PP" body2="right_middle_MP"/>
+    <exclude body1="right_middle_MP" body2="right_middle_DP"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_PP"/>
+    <exclude body1="right_ring_MCP_VL" body2="right_ring_PP"/>
+    <exclude body1="right_ring_PP" body2="right_ring_MP"/>
+    <exclude body1="right_ring_MP" body2="right_ring_DP"/>
+    <exclude body1="right_hand_C_MC" body2="right_pinky_MC"/>
+    <exclude body1="right_pinky_MC" body2="right_pinky_MCP_VL"/>
+    <exclude body1="right_pinky_MC" body2="right_pinky_PP"/>
+    <exclude body1="right_pinky_MCP_VL" body2="right_pinky_PP"/>
+    <exclude body1="right_pinky_PP" body2="right_pinky_MP"/>
+    <exclude body1="right_pinky_MP" body2="right_pinky_DP"/>
+  </contact>
+</mujoco>