add: sharpa retarget output for oakinkv2 (5 right-hand tasks)

The earlier oakinkv2 commit (1c839de) was supposed to include the sharpa
results but the .gitignore rule ``sharpa/`` (intended for ignoring the
private-robots symlink) silently excluded everything under
processed/oakinkv2/sharpa/. Add an explicit gitignore exception and
push the missing scene XMLs, trajectory NPZs, IK + MJWP-Fast videos and
viser exports for: pick_spoon_bowl, pour_tube, stir_beaker,
uncap_alcohol_burner, wipe_board.

.gitignore

@@ -1,5 +1,6 @@
 sharpa/
 !processed/oakink/assets/robots/sharpa/
+!processed/oakinkv2/sharpa/
 xhand_pro/
 processed/gigahand/assets/robots/xhand/MJMODEL.TXT
 */assets/robots/xhand/MJMODEL.TXT

processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/config.yaml

@@ -0,0 +1,123 @@
+robot_type: sharpa
+embodiment_type: right
+task: pick_spoon_bowl
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakinkv2
+data_id: 0
+model_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/../scene.xml
+data_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 392
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.5
+max_revert_forward_attempts: 1
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: viser
+wait_on_finish: false
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: true
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 12
+- 1
+- 3
+- 5
+- 7
+- 9
+contact_order: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 7
+nq: 35
+nv: 34
+nu: 28
+npair: 257
+beta_traj: 0.31622776601683794
+output_dir: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0

processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_ikrollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d436278f6e95f18f34328c785f212b0515f7b47f3febbfbe39722c45e6ef6c4f
+size 55142

processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_kinematic.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44c5b93bd575de36e063d534e85cf3873b2249a94b75beb522f3e3b534c82af4
+size 108952

processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_mjwp_fast.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac83ac51f13f8641c52e624f3256a56f936d8c2a1e872e7c88450e513cd16465
+size 609707

processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_ik.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c294409373b544b521d63ffa0dcc5ea4511ff3f8189e7ee8dff53b5368e718ca
+size 161361

processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_ik.viser

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50619e89be0f9591956fb29b1c8f449cf359ca7b5c7f8eab5bb8d9dc94963999
+size 1607839

processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_mjwp_fast.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e172ad8fd2f9b38f8eec9ea57ef10f15cde8d6748fdea3792a533c36076f6aef
+size 336727

processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_mjwp_fast.viser

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1f778cff36339d64cc073433c7c150bd0d99565a77b4db967037ee39f99ab9a
+size 1607116

processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene.xml

@@ -0,0 +1,620 @@
+<mujoco model="right_sharpa">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" solver="CG" iterations="6">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_C_MC_visual" file="robots/sharpa/meshes/right_hand_C_MC_visual_.STL"/>
+    <mesh name="right_hand_C_MC" file="robots/sharpa/meshes/right_hand_C_MC.STL"/>
+    <mesh name="right_thumb_CMC_VL_visual" file="robots/sharpa/meshes/right_thumb_CMC_VL_visual.STL"/>
+    <mesh name="right_thumb_MC_visual" file="robots/sharpa/meshes/right_thumb_MC_visual.STL"/>
+    <mesh name="right_thumb_MC" file="robots/sharpa/meshes/right_thumb_MC.STL"/>
+    <mesh name="right_thumb_MCP_VL_visual" file="robots/sharpa/meshes/right_thumb_MCP_VL_visual.STL"/>
+    <mesh name="right_thumb_PP_visual" file="robots/sharpa/meshes/right_thumb_PP_visual.STL"/>
+    <mesh name="right_thumb_PP" file="robots/sharpa/meshes/right_thumb_PP.STL"/>
+    <mesh name="right_thumb_DP_visual" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_DP" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_elastomer" file="robots/sharpa/meshes/thumb_elastomer.STL"/>
+    <mesh name="right_MCP_VL_visual" file="robots/sharpa/meshes/right_MCP_VL_visual.STL"/>
+    <mesh name="right_MCP_VL" file="robots/sharpa/meshes/MCP_VL.STL"/>
+    <mesh name="right_PP_visual" file="robots/sharpa/meshes/right_PP_visual.STL"/>
+    <mesh name="right_PP" file="robots/sharpa/meshes/right_PP.STL"/>
+    <mesh name="right_MP_visual" file="robots/sharpa/meshes/right_MP_visual.STL"/>
+    <mesh name="right_MP" file="robots/sharpa/meshes/right_MP.STL"/>
+    <mesh name="right_DP_visual" file="robots/sharpa/meshes/right_DP_visual.STL"/>
+    <mesh name="right_DP" file="robots/sharpa/meshes/right_DP_visual.STL"/>
+    <mesh name="right_elastomer" file="robots/sharpa/meshes/elastomer.STL"/>
+    <mesh name="right_pinky_MC_visual" file="robots/sharpa/meshes/right_pinky_MC_visual.STL"/>
+    <mesh name="right_pinky_MC" file="robots/sharpa/meshes/right_pinky_MC.STL"/>
+    <mesh name="right_visual" file="objects/O02_0030_00002/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0030_00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0030_00002/convex/1.obj"/>
+    <mesh name="right_10" file="objects/O02_0030_00002/convex/10.obj"/>
+    <mesh name="right_2" file="objects/O02_0030_00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0030_00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0030_00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02_0030_00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02_0030_00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02_0030_00002/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02_0030_00002/convex/8.obj"/>
+    <mesh name="right_9" file="objects/O02_0030_00002/convex/9.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0539449" type="plane" material="right_groundplane"/>
+    <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3" dir="0 0 -1" type="directional"/>
+    <body name="right_hand_base" pos="0 0 0.2">
+      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <body name="right_hand_C_MC">
+        <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 name="right_hand_C_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC_visual"/>
+        <geom name="right_hand_C_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC"/>
+        <geom name="collision_hand_right_palm_0" size="0.02 0.04 0.04" pos="0 0 0.05" type="box" group="3" rgba="0 1 0 1"/>
+        <site name="right_palm" pos="0 0 0.05" rgba="1 1 0 1"/>
+        <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 name="right_thumb_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC_visual"/>
+            <geom name="right_thumb_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC"/>
+            <geom name="collision_hand_right_thumb_3" size="0.01 0.025" pos="0.032 -0.003 0.005" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_thumb_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP_visual"/>
+                <geom name="right_thumb_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP"/>
+                <geom name="collision_hand_right_thumb_2" size="0.008 0.015" pos="0.019 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_thumb_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP_visual"/>
+                  <geom name="right_thumb_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP"/>
+                  <geom name="right_thumb_elastomer_visual" 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"/>
+                  <geom name="right_thumb_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_thumb_elastomer"/>
+                  <geom name="collision_hand_right_thumb_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_thumb_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <site name="trace_hand_right_thumb_tip" pos="0.028 0 0" size="0.005"/>
+                  <site name="right_thumb_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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="-0.174533 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 name="right_index_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+            <geom name="right_index_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+            <geom name="collision_hand_right_index_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_index_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+              <geom name="right_index_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+              <geom name="collision_hand_right_index_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_index_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_index_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                <geom name="right_index_elastomer_visual" 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"/>
+                <geom name="right_index_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
+                <geom name="collision_hand_right_index_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_index_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <site name="trace_hand_right_index_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_index_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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="-0.174533 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 name="right_middle_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+            <geom name="right_middle_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+            <geom name="collision_hand_right_middle_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_middle_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+              <geom name="right_middle_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+              <geom name="collision_hand_right_middle_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_middle_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_middle_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                <geom name="right_middle_elastomer_visual" 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"/>
+                <geom name="right_middle_elastomer" quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
+                <geom name="collision_hand_right_middle_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_middle_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <site name="trace_hand_right_middle_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_middle_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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="-0.174533 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 name="right_ring_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+            <geom name="right_ring_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+            <geom name="collision_hand_right_ring_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_ring_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+              <geom name="right_ring_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+              <geom name="collision_hand_right_ring_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_ring_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_ring_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                <geom name="right_ring_elastomer_visual" 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"/>
+                <geom name="right_ring_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
+                <geom name="collision_hand_right_ring_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_ring_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <site name="trace_hand_right_ring_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_ring_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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 name="right_pinky_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC_visual"/>
+          <geom name="right_pinky_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC"/>
+          <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="-0.174533 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 name="right_pinky_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+              <geom name="right_pinky_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+              <geom name="collision_hand_right_pinky_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_pinky_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+                <geom name="right_pinky_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+                <geom name="collision_hand_right_pinky_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_pinky_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                  <geom name="right_pinky_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                  <geom name="right_pinky_elastomer_visual" 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"/>
+                  <geom name="right_pinky_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.1 1 0.2 1" mesh="right_elastomer"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_pinky_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <site name="trace_hand_right_pinky_tip" pos="0.028 0 0" size="0.005"/>
+                  <site name="right_pinky_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_9"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_10" name="collision_hand_right_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_9" name="collision_hand_right_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_0" name="collision_hand_right_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_1" name="collision_hand_right_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_10" name="collision_hand_right_thumb_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_2" name="collision_hand_right_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_3" name="collision_hand_right_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_4" name="collision_hand_right_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_5" name="collision_hand_right_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_9" name="collision_hand_right_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_9" name="collision_hand_right_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_0" name="collision_hand_right_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_1" name="collision_hand_right_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_10" name="collision_hand_right_index_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_2" name="collision_hand_right_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_3" geom2="right_object_4" name="collision_hand_right_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_5" name="collision_hand_right_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_6" name="collision_hand_right_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_7" name="collision_hand_right_index_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_8" name="collision_hand_right_index_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_9" name="collision_hand_right_index_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_8" name="collision_hand_right_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_9" name="collision_hand_right_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_9" name="collision_hand_right_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_9" name="collision_hand_right_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_0" name="collision_hand_right_middle_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_1" name="collision_hand_right_middle_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_10" name="collision_hand_right_middle_3_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_2" name="collision_hand_right_middle_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_3" name="collision_hand_right_middle_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_4" name="collision_hand_right_middle_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_5" name="collision_hand_right_middle_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_6" name="collision_hand_right_middle_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_7" name="collision_hand_right_middle_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_8" name="collision_hand_right_middle_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_9" name="collision_hand_right_middle_3_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_10" name="collision_hand_right_middle_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_8" name="collision_hand_right_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_9" name="collision_hand_right_middle_2_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_10" name="collision_hand_right_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_0" name="collision_hand_right_ring_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_1" name="collision_hand_right_ring_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_10" name="collision_hand_right_ring_3_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_2" name="collision_hand_right_ring_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_3" name="collision_hand_right_ring_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_4" name="collision_hand_right_ring_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_5" name="collision_hand_right_ring_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_6" name="collision_hand_right_ring_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_7" name="collision_hand_right_ring_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_8" name="collision_hand_right_ring_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_9" name="collision_hand_right_ring_3_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_10" name="collision_hand_right_ring_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_8" name="collision_hand_right_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_9" name="collision_hand_right_ring_2_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_9" name="collision_hand_right_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_0" name="collision_hand_right_pinky_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_1" name="collision_hand_right_pinky_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_10" name="collision_hand_right_pinky_3_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_2" name="collision_hand_right_pinky_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_3" name="collision_hand_right_pinky_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_4" name="collision_hand_right_pinky_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_5" name="collision_hand_right_pinky_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_6" name="collision_hand_right_pinky_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_7" name="collision_hand_right_pinky_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_8" name="collision_hand_right_pinky_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_9" name="collision_hand_right_pinky_3_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_10" name="collision_hand_right_pinky_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_8" name="collision_hand_right_pinky_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_9" name="collision_hand_right_pinky_2_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_10" name="collision_hand_right_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_10" name="collision_hand_right_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_9" name="collision_hand_right_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <exclude body1="right_hand_C_MC" body2="right_hand_C_MC"/>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_CMC_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_MC"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_pinky_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_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_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_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_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>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="right_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
+    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
+    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
+    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+  </actuator>
+</mujoco>

processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene_eq.xml

@@ -0,0 +1,628 @@
+<mujoco model="right_sharpa">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" solver="CG" iterations="6">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
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+  <asset>
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+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_C_MC_visual" file="robots/sharpa/meshes/right_hand_C_MC_visual_.STL"/>
+    <mesh name="right_hand_C_MC" file="robots/sharpa/meshes/right_hand_C_MC.STL"/>
+    <mesh name="right_thumb_CMC_VL_visual" file="robots/sharpa/meshes/right_thumb_CMC_VL_visual.STL"/>
+    <mesh name="right_thumb_MC_visual" file="robots/sharpa/meshes/right_thumb_MC_visual.STL"/>
+    <mesh name="right_thumb_MC" file="robots/sharpa/meshes/right_thumb_MC.STL"/>
+    <mesh name="right_thumb_MCP_VL_visual" file="robots/sharpa/meshes/right_thumb_MCP_VL_visual.STL"/>
+    <mesh name="right_thumb_PP_visual" file="robots/sharpa/meshes/right_thumb_PP_visual.STL"/>
+    <mesh name="right_thumb_PP" file="robots/sharpa/meshes/right_thumb_PP.STL"/>
+    <mesh name="right_thumb_DP_visual" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_DP" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_elastomer" file="robots/sharpa/meshes/thumb_elastomer.STL"/>
+    <mesh name="right_MCP_VL_visual" file="robots/sharpa/meshes/right_MCP_VL_visual.STL"/>
+    <mesh name="right_MCP_VL" file="robots/sharpa/meshes/MCP_VL.STL"/>
+    <mesh name="right_PP_visual" file="robots/sharpa/meshes/right_PP_visual.STL"/>
+    <mesh name="right_PP" file="robots/sharpa/meshes/right_PP.STL"/>
+    <mesh name="right_MP_visual" file="robots/sharpa/meshes/right_MP_visual.STL"/>
+    <mesh name="right_MP" file="robots/sharpa/meshes/right_MP.STL"/>
+    <mesh name="right_DP_visual" file="robots/sharpa/meshes/right_DP_visual.STL"/>
+    <mesh name="right_DP" file="robots/sharpa/meshes/right_DP_visual.STL"/>
+    <mesh name="right_elastomer" file="robots/sharpa/meshes/elastomer.STL"/>
+    <mesh name="right_pinky_MC_visual" file="robots/sharpa/meshes/right_pinky_MC_visual.STL"/>
+    <mesh name="right_pinky_MC" file="robots/sharpa/meshes/right_pinky_MC.STL"/>
+    <mesh name="right_visual" file="objects/O02_0030_00002/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0030_00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0030_00002/convex/1.obj"/>
+    <mesh name="right_10" file="objects/O02_0030_00002/convex/10.obj"/>
+    <mesh name="right_2" file="objects/O02_0030_00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0030_00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0030_00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02_0030_00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02_0030_00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02_0030_00002/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02_0030_00002/convex/8.obj"/>
+    <mesh name="right_9" file="objects/O02_0030_00002/convex/9.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0539449" type="plane" material="right_groundplane"/>
+    <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3" dir="0 0 -1" type="directional"/>
+    <body name="right_hand_base" pos="0 0 0.2">
+      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <body name="right_hand_C_MC">
+        <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 name="right_hand_C_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC_visual"/>
+        <geom name="right_hand_C_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC"/>
+        <geom name="collision_hand_right_palm_0" size="0.02 0.04 0.04" pos="0 0 0.05" type="box" group="3" rgba="0 1 0 1"/>
+        <site name="right_palm" pos="0 0 0.05" rgba="1 1 0 1"/>
+        <body name="right_thumb_CMC_VL" pos="0.01 0.026 0.0214" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06">
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+          <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">
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+            <joint name="right_thumb_CMC_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+            <geom name="right_thumb_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC_visual"/>
+            <geom name="right_thumb_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC"/>
+            <geom name="collision_hand_right_thumb_3" size="0.01 0.025" pos="0.032 -0.003 0.005" quat="0.707107 0 0.707107 0" type="capsule" 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">
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+                <joint name="right_thumb_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+                <geom name="right_thumb_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP_visual"/>
+                <geom name="right_thumb_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP"/>
+                <geom name="collision_hand_right_thumb_2" size="0.008 0.015" pos="0.019 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <body name="right_thumb_DP" pos="0.039 0 0" quat="0.707105 0.707108 0 0">
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+                  <joint name="right_thumb_IP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
+                  <geom name="right_thumb_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP_visual"/>
+                  <geom name="right_thumb_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP"/>
+                  <geom name="right_thumb_elastomer_visual" 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"/>
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+                  <site name="trace_hand_right_thumb_tip" pos="0.028 0 0" size="0.005"/>
+                  <site name="right_thumb_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="right_index_MCP_VL" pos="0.001 0.0303 0.0959" quat="0.499998 -0.500002 -0.5 -0.5">
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+            <geom name="right_index_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
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+                <joint name="right_index_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
+                <geom name="right_index_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_index_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
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+                <site name="trace_hand_right_index_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_index_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
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+        <body name="right_middle_MCP_VL" pos="0 0.01 0.0989" quat="0.499998 -0.500002 -0.5 -0.5">
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+            <joint name="right_middle_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+            <geom name="right_middle_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
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+              <joint name="right_middle_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
+              <geom name="right_middle_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+              <geom name="right_middle_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
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+              <body name="right_middle_DP" pos="0.0315 0 0">
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+                <joint name="right_middle_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
+                <geom name="right_middle_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_middle_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                <geom name="right_middle_elastomer_visual" 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"/>
+                <geom name="right_middle_elastomer" quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
+                <geom name="collision_hand_right_middle_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_middle_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <site name="trace_hand_right_middle_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_middle_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="right_ring_MCP_VL" pos="0.0015 -0.0103 0.0929" quat="0.499998 -0.500002 -0.5 -0.5">
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+          <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"/>
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+            <joint name="right_ring_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+            <geom name="right_ring_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
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+              <joint name="right_ring_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
+              <geom name="right_ring_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+              <geom name="right_ring_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
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+              <body name="right_ring_DP" pos="0.0315 0 0">
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+                <joint name="right_ring_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
+                <geom name="right_ring_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_ring_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                <geom name="right_ring_elastomer_visual" 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"/>
+                <geom name="right_ring_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
+                <geom name="collision_hand_right_ring_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_ring_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <site name="trace_hand_right_ring_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_ring_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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 name="right_pinky_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC_visual"/>
+          <geom name="right_pinky_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC"/>
+          <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="-0.174533 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 name="right_pinky_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+              <geom name="right_pinky_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+              <geom name="collision_hand_right_pinky_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_pinky_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+                <geom name="right_pinky_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+                <geom name="collision_hand_right_pinky_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_pinky_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                  <geom name="right_pinky_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                  <geom name="right_pinky_elastomer_visual" 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"/>
+                  <geom name="right_pinky_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.1 1 0.2 1" mesh="right_elastomer"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_pinky_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <site name="trace_hand_right_pinky_tip" pos="0.028 0 0" size="0.005"/>
+                  <site name="right_pinky_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_9"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_10" name="collision_hand_right_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_9" name="collision_hand_right_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_0" name="collision_hand_right_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_1" name="collision_hand_right_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_10" name="collision_hand_right_thumb_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_2" name="collision_hand_right_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_3" name="collision_hand_right_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_4" name="collision_hand_right_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_5" name="collision_hand_right_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_6" name="collision_hand_right_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_7" name="collision_hand_right_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_8" name="collision_hand_right_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_9" name="collision_hand_right_thumb_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_10" name="collision_hand_right_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_9" name="collision_hand_right_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_10" name="collision_hand_right_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_10" name="collision_hand_right_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_9" name="collision_hand_right_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_2" geom2="right_object_9" name="collision_hand_right_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_9" name="collision_hand_right_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_9" name="collision_hand_right_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_0" name="collision_hand_right_middle_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_1" name="collision_hand_right_middle_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_10" name="collision_hand_right_middle_3_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_2" name="collision_hand_right_middle_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_3" name="collision_hand_right_middle_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_4" name="collision_hand_right_middle_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_5" name="collision_hand_right_middle_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_6" name="collision_hand_right_middle_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_7" name="collision_hand_right_middle_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_8" name="collision_hand_right_middle_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_9" name="collision_hand_right_middle_3_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_10" name="collision_hand_right_middle_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_8" name="collision_hand_right_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_9" name="collision_hand_right_middle_2_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_10" name="collision_hand_right_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_0" name="collision_hand_right_ring_3_right_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_10" name="collision_hand_right_ring_3_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_2" name="collision_hand_right_ring_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_3" name="collision_hand_right_ring_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_4" name="collision_hand_right_ring_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_5" name="collision_hand_right_ring_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_6" name="collision_hand_right_ring_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_7" name="collision_hand_right_ring_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_8" name="collision_hand_right_ring_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_9" name="collision_hand_right_ring_3_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_10" name="collision_hand_right_ring_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_8" name="collision_hand_right_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_9" name="collision_hand_right_ring_2_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_9" name="collision_hand_right_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_0" name="collision_hand_right_pinky_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_1" name="collision_hand_right_pinky_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_10" name="collision_hand_right_pinky_3_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_2" name="collision_hand_right_pinky_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_3" name="collision_hand_right_pinky_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_4" name="collision_hand_right_pinky_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_5" name="collision_hand_right_pinky_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_6" name="collision_hand_right_pinky_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_7" name="collision_hand_right_pinky_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_8" name="collision_hand_right_pinky_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_9" name="collision_hand_right_pinky_3_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_10" name="collision_hand_right_pinky_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_8" name="collision_hand_right_pinky_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_9" name="collision_hand_right_pinky_2_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_10" name="collision_hand_right_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_10" name="collision_hand_right_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_9" name="collision_hand_right_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <exclude body1="right_hand_C_MC" body2="right_hand_C_MC"/>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_CMC_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_MC"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_pinky_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_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_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_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_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>
+
+  <equality>
+    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
+  </equality>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="right_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
+    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
+    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
+    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+  </actuator>
+</mujoco>

processed/oakinkv2/sharpa/right/pick_spoon_bowl/task_info.json

@@ -0,0 +1,31 @@
+{
+  "task": "pick_spoon_bowl",
+  "dataset_name": "oakinkv2",
+  "robot_type": "sharpa",
+  "embodiment_type": "right",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0030_00002",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.02,
+  "pre_grasp_seconds": 1.5,
+  "post_grasp_seconds": 2.5,
+  "n_frames": 200,
+  "oakink_seq_key": "scene_01__A001/seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19",
+  "oakink_seq_token": "scene_01__A001++seq__b29ee6fc3a226cd716ec__2023-04-27-19-39-19",
+  "oakink_obj_id": "O02@0030@00002",
+  "oakink_primitive": "scoop",
+  "oakink_grasp_range": [
+    1111,
+    4598
+  ],
+  "oakink_window": [
+    931,
+    1411
+  ],
+  "obj_first_frame_lowest_world_z": 0.007055115031203735,
+  "scene_lowest_world_z": 0.006876816536960102,
+  "object_descends_from_frame0": false,
+  "right_plate_top_world_z": -0.04294488496879627,
+  "floor_well_below_offset": 0.05,
+  "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0030_00002/convex"
+}

processed/oakinkv2/sharpa/right/pour_tube/0/config.yaml

@@ -0,0 +1,123 @@
+robot_type: sharpa
+embodiment_type: right
+task: pour_tube
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakinkv2
+data_id: 0
+model_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/pour_tube/0/../scene.xml
+data_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 392
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.5
+max_revert_forward_attempts: 1
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: viser
+wait_on_finish: false
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: true
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 12
+- 1
+- 3
+- 5
+- 7
+- 9
+contact_order: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 7
+nq: 35
+nv: 34
+nu: 28
+npair: 213
+beta_traj: 0.31622776601683794
+output_dir: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/pour_tube/0

processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_ikrollout.npz

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+size 55142

processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_kinematic.npz

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+size 108952

processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_mjwp_fast.npz

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+size 620533

processed/oakinkv2/sharpa/right/pour_tube/0/visualization_ik.mp4

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+<mujoco model="right_sharpa">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" solver="CG" iterations="6">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
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+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_C_MC_visual" file="robots/sharpa/meshes/right_hand_C_MC_visual_.STL"/>
+    <mesh name="right_hand_C_MC" file="robots/sharpa/meshes/right_hand_C_MC.STL"/>
+    <mesh name="right_thumb_CMC_VL_visual" file="robots/sharpa/meshes/right_thumb_CMC_VL_visual.STL"/>
+    <mesh name="right_thumb_MC_visual" file="robots/sharpa/meshes/right_thumb_MC_visual.STL"/>
+    <mesh name="right_thumb_MC" file="robots/sharpa/meshes/right_thumb_MC.STL"/>
+    <mesh name="right_thumb_MCP_VL_visual" file="robots/sharpa/meshes/right_thumb_MCP_VL_visual.STL"/>
+    <mesh name="right_thumb_PP_visual" file="robots/sharpa/meshes/right_thumb_PP_visual.STL"/>
+    <mesh name="right_thumb_PP" file="robots/sharpa/meshes/right_thumb_PP.STL"/>
+    <mesh name="right_thumb_DP_visual" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_DP" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_elastomer" file="robots/sharpa/meshes/thumb_elastomer.STL"/>
+    <mesh name="right_MCP_VL_visual" file="robots/sharpa/meshes/right_MCP_VL_visual.STL"/>
+    <mesh name="right_MCP_VL" file="robots/sharpa/meshes/MCP_VL.STL"/>
+    <mesh name="right_PP_visual" file="robots/sharpa/meshes/right_PP_visual.STL"/>
+    <mesh name="right_PP" file="robots/sharpa/meshes/right_PP.STL"/>
+    <mesh name="right_MP_visual" file="robots/sharpa/meshes/right_MP_visual.STL"/>
+    <mesh name="right_MP" file="robots/sharpa/meshes/right_MP.STL"/>
+    <mesh name="right_DP_visual" file="robots/sharpa/meshes/right_DP_visual.STL"/>
+    <mesh name="right_DP" file="robots/sharpa/meshes/right_DP_visual.STL"/>
+    <mesh name="right_elastomer" file="robots/sharpa/meshes/elastomer.STL"/>
+    <mesh name="right_pinky_MC_visual" file="robots/sharpa/meshes/right_pinky_MC_visual.STL"/>
+    <mesh name="right_pinky_MC" file="robots/sharpa/meshes/right_pinky_MC.STL"/>
+    <mesh name="right_visual" file="objects/O02_0011_00003/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0011_00003/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0011_00003/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02_0011_00003/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0011_00003/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0011_00003/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02_0011_00003/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02_0011_00003/convex/6.obj"/>
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+    <mesh name="right_8" file="objects/O02_0011_00003/convex/8.obj"/>
+  </asset>
+
+  <worldbody>
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+    <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3" dir="0 0 -1" type="directional"/>
+    <body name="right_hand_base" pos="0 0 0.2">
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+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <body name="right_hand_C_MC">
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+        <geom name="right_hand_C_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC_visual"/>
+        <geom name="right_hand_C_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC"/>
+        <geom name="collision_hand_right_palm_0" size="0.02 0.04 0.04" pos="0 0 0.05" type="box" group="3" rgba="0 1 0 1"/>
+        <site name="right_palm" pos="0 0 0.05" rgba="1 1 0 1"/>
+        <body name="right_thumb_CMC_VL" pos="0.01 0.026 0.0214" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06">
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+          <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">
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+            <joint name="right_thumb_CMC_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+            <geom name="right_thumb_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC_visual"/>
+            <geom name="right_thumb_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC"/>
+            <geom name="collision_hand_right_thumb_3" size="0.01 0.025" pos="0.032 -0.003 0.005" quat="0.707107 0 0.707107 0" type="capsule" 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">
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+              <joint name="right_thumb_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.5236 1.3963"/>
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+              <body name="right_thumb_PP" quat="0.707105 -0.707108 0 0">
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+                <joint name="right_thumb_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
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+                  <joint name="right_thumb_IP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
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+              <joint name="right_ring_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
+              <geom name="right_ring_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+              <geom name="right_ring_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+              <geom name="collision_hand_right_ring_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_ring_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_ring_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                <geom name="right_ring_elastomer_visual" 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"/>
+                <geom name="right_ring_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
+                <geom name="collision_hand_right_ring_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_ring_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <site name="trace_hand_right_ring_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_ring_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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 name="right_pinky_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC_visual"/>
+          <geom name="right_pinky_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC"/>
+          <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="-0.174533 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 name="right_pinky_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+              <geom name="right_pinky_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+              <geom name="collision_hand_right_pinky_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_pinky_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+                <geom name="right_pinky_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+                <geom name="collision_hand_right_pinky_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_pinky_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                  <geom name="right_pinky_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                  <geom name="right_pinky_elastomer_visual" 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"/>
+                  <geom name="right_pinky_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.1 1 0.2 1" mesh="right_elastomer"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_pinky_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <site name="trace_hand_right_pinky_tip" pos="0.028 0 0" size="0.005"/>
+                  <site name="right_pinky_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_0" name="collision_hand_right_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_1" name="collision_hand_right_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_2" name="collision_hand_right_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_3" name="collision_hand_right_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_4" name="collision_hand_right_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_5" name="collision_hand_right_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_6" name="collision_hand_right_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_7" name="collision_hand_right_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_8" name="collision_hand_right_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_0" name="collision_hand_right_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_1" name="collision_hand_right_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_2" name="collision_hand_right_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_3" name="collision_hand_right_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_4" name="collision_hand_right_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_8" name="collision_hand_right_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_0" name="collision_hand_right_middle_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_1" name="collision_hand_right_middle_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_2" name="collision_hand_right_middle_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_3" name="collision_hand_right_middle_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_4" name="collision_hand_right_middle_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_5" name="collision_hand_right_middle_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_6" name="collision_hand_right_middle_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_7" name="collision_hand_right_middle_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_8" name="collision_hand_right_middle_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_8" name="collision_hand_right_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_0" name="collision_hand_right_ring_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_1" name="collision_hand_right_ring_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_2" name="collision_hand_right_ring_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_3" name="collision_hand_right_ring_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_4" name="collision_hand_right_ring_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_5" name="collision_hand_right_ring_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_6" name="collision_hand_right_ring_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_7" name="collision_hand_right_ring_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_8" name="collision_hand_right_ring_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_8" name="collision_hand_right_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_0" name="collision_hand_right_pinky_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_1" name="collision_hand_right_pinky_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_2" name="collision_hand_right_pinky_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_3" name="collision_hand_right_pinky_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_4" name="collision_hand_right_pinky_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_5" name="collision_hand_right_pinky_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_6" name="collision_hand_right_pinky_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_7" name="collision_hand_right_pinky_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_8" name="collision_hand_right_pinky_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_8" name="collision_hand_right_pinky_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <exclude body1="right_hand_C_MC" body2="right_hand_C_MC"/>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_CMC_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_MC"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_pinky_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_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_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_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_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>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="right_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
+    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
+    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
+    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+  </actuator>
+</mujoco>

processed/oakinkv2/sharpa/right/pour_tube/scene_eq.xml

@@ -0,0 +1,580 @@
+<mujoco model="right_sharpa">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" solver="CG" iterations="6">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_C_MC_visual" file="robots/sharpa/meshes/right_hand_C_MC_visual_.STL"/>
+    <mesh name="right_hand_C_MC" file="robots/sharpa/meshes/right_hand_C_MC.STL"/>
+    <mesh name="right_thumb_CMC_VL_visual" file="robots/sharpa/meshes/right_thumb_CMC_VL_visual.STL"/>
+    <mesh name="right_thumb_MC_visual" file="robots/sharpa/meshes/right_thumb_MC_visual.STL"/>
+    <mesh name="right_thumb_MC" file="robots/sharpa/meshes/right_thumb_MC.STL"/>
+    <mesh name="right_thumb_MCP_VL_visual" file="robots/sharpa/meshes/right_thumb_MCP_VL_visual.STL"/>
+    <mesh name="right_thumb_PP_visual" file="robots/sharpa/meshes/right_thumb_PP_visual.STL"/>
+    <mesh name="right_thumb_PP" file="robots/sharpa/meshes/right_thumb_PP.STL"/>
+    <mesh name="right_thumb_DP_visual" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_DP" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_elastomer" file="robots/sharpa/meshes/thumb_elastomer.STL"/>
+    <mesh name="right_MCP_VL_visual" file="robots/sharpa/meshes/right_MCP_VL_visual.STL"/>
+    <mesh name="right_MCP_VL" file="robots/sharpa/meshes/MCP_VL.STL"/>
+    <mesh name="right_PP_visual" file="robots/sharpa/meshes/right_PP_visual.STL"/>
+    <mesh name="right_PP" file="robots/sharpa/meshes/right_PP.STL"/>
+    <mesh name="right_MP_visual" file="robots/sharpa/meshes/right_MP_visual.STL"/>
+    <mesh name="right_MP" file="robots/sharpa/meshes/right_MP.STL"/>
+    <mesh name="right_DP_visual" file="robots/sharpa/meshes/right_DP_visual.STL"/>
+    <mesh name="right_DP" file="robots/sharpa/meshes/right_DP_visual.STL"/>
+    <mesh name="right_elastomer" file="robots/sharpa/meshes/elastomer.STL"/>
+    <mesh name="right_pinky_MC_visual" file="robots/sharpa/meshes/right_pinky_MC_visual.STL"/>
+    <mesh name="right_pinky_MC" file="robots/sharpa/meshes/right_pinky_MC.STL"/>
+    <mesh name="right_visual" file="objects/O02_0011_00003/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0011_00003/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0011_00003/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02_0011_00003/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0011_00003/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0011_00003/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02_0011_00003/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02_0011_00003/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02_0011_00003/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02_0011_00003/convex/8.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 0.113939" type="plane" material="right_groundplane"/>
+    <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3" dir="0 0 -1" type="directional"/>
+    <body name="right_hand_base" pos="0 0 0.2">
+      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <body name="right_hand_C_MC">
+        <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 name="right_hand_C_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC_visual"/>
+        <geom name="right_hand_C_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC"/>
+        <geom name="collision_hand_right_palm_0" size="0.02 0.04 0.04" pos="0 0 0.05" type="box" group="3" rgba="0 1 0 1"/>
+        <site name="right_palm" pos="0 0 0.05" rgba="1 1 0 1"/>
+        <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 name="right_thumb_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC_visual"/>
+            <geom name="right_thumb_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC"/>
+            <geom name="collision_hand_right_thumb_3" size="0.01 0.025" pos="0.032 -0.003 0.005" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_thumb_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP_visual"/>
+                <geom name="right_thumb_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP"/>
+                <geom name="collision_hand_right_thumb_2" size="0.008 0.015" pos="0.019 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_thumb_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP_visual"/>
+                  <geom name="right_thumb_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP"/>
+                  <geom name="right_thumb_elastomer_visual" 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"/>
+                  <geom name="right_thumb_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_thumb_elastomer"/>
+                  <geom name="collision_hand_right_thumb_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_thumb_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <site name="trace_hand_right_thumb_tip" pos="0.028 0 0" size="0.005"/>
+                  <site name="right_thumb_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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="-0.174533 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 name="right_index_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+            <geom name="right_index_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+            <geom name="collision_hand_right_index_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_index_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+              <geom name="right_index_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+              <geom name="collision_hand_right_index_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_index_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_index_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                <geom name="right_index_elastomer_visual" 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"/>
+                <geom name="right_index_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
+                <geom name="collision_hand_right_index_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_index_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <site name="trace_hand_right_index_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_index_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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="-0.174533 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 name="right_middle_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+            <geom name="right_middle_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+            <geom name="collision_hand_right_middle_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_middle_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+              <geom name="right_middle_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+              <geom name="collision_hand_right_middle_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_middle_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_middle_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                <geom name="right_middle_elastomer_visual" 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"/>
+                <geom name="right_middle_elastomer" quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
+                <geom name="collision_hand_right_middle_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_middle_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <site name="trace_hand_right_middle_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_middle_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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="-0.174533 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 name="right_ring_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+            <geom name="right_ring_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+            <geom name="collision_hand_right_ring_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_ring_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+              <geom name="right_ring_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+              <geom name="collision_hand_right_ring_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_ring_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_ring_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                <geom name="right_ring_elastomer_visual" 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"/>
+                <geom name="right_ring_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
+                <geom name="collision_hand_right_ring_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_ring_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <site name="trace_hand_right_ring_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_ring_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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 name="right_pinky_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC_visual"/>
+          <geom name="right_pinky_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC"/>
+          <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="-0.174533 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 name="right_pinky_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+              <geom name="right_pinky_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+              <geom name="collision_hand_right_pinky_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_pinky_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+                <geom name="right_pinky_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+                <geom name="collision_hand_right_pinky_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_pinky_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                  <geom name="right_pinky_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                  <geom name="right_pinky_elastomer_visual" 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"/>
+                  <geom name="right_pinky_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.1 1 0.2 1" mesh="right_elastomer"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_pinky_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <site name="trace_hand_right_pinky_tip" pos="0.028 0 0" size="0.005"/>
+                  <site name="right_pinky_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_0" name="collision_hand_right_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_1" name="collision_hand_right_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_2" name="collision_hand_right_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_3" name="collision_hand_right_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_4" name="collision_hand_right_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_5" name="collision_hand_right_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_6" name="collision_hand_right_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_7" name="collision_hand_right_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_8" name="collision_hand_right_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_0" name="collision_hand_right_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_1" name="collision_hand_right_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_2" name="collision_hand_right_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_3" name="collision_hand_right_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_4" name="collision_hand_right_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_5" name="collision_hand_right_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_6" name="collision_hand_right_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_7" name="collision_hand_right_index_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_8" name="collision_hand_right_index_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_8" name="collision_hand_right_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_0" name="collision_hand_right_middle_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_1" name="collision_hand_right_middle_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_2" name="collision_hand_right_middle_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_3" name="collision_hand_right_middle_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_4" name="collision_hand_right_middle_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_5" name="collision_hand_right_middle_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_6" name="collision_hand_right_middle_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_7" name="collision_hand_right_middle_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_8" name="collision_hand_right_middle_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_8" name="collision_hand_right_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_0" name="collision_hand_right_ring_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_1" name="collision_hand_right_ring_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_2" name="collision_hand_right_ring_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_3" name="collision_hand_right_ring_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_4" name="collision_hand_right_ring_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_5" name="collision_hand_right_ring_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_6" name="collision_hand_right_ring_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_7" name="collision_hand_right_ring_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_8" name="collision_hand_right_ring_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_8" name="collision_hand_right_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_0" name="collision_hand_right_pinky_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_1" name="collision_hand_right_pinky_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_2" name="collision_hand_right_pinky_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_3" name="collision_hand_right_pinky_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_4" name="collision_hand_right_pinky_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_5" name="collision_hand_right_pinky_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_6" name="collision_hand_right_pinky_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_7" name="collision_hand_right_pinky_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_8" name="collision_hand_right_pinky_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_8" name="collision_hand_right_pinky_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <exclude body1="right_hand_C_MC" body2="right_hand_C_MC"/>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_CMC_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_MC"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_pinky_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_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_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_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_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>
+
+  <equality>
+    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
+  </equality>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="right_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
+    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
+    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
+    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+  </actuator>
+</mujoco>

processed/oakinkv2/sharpa/right/pour_tube/task_info.json

@@ -0,0 +1,31 @@
+{
+  "task": "pour_tube",
+  "dataset_name": "oakinkv2",
+  "robot_type": "sharpa",
+  "embodiment_type": "right",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0011_00003",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.02,
+  "pre_grasp_seconds": 1.5,
+  "post_grasp_seconds": 2.5,
+  "n_frames": 200,
+  "oakink_seq_key": "scene_03__A004/seq__f2d09be48f383f8caf97__2023-04-22-18-52-52",
+  "oakink_seq_token": "scene_03__A004++seq__f2d09be48f383f8caf97__2023-04-22-18-52-52",
+  "oakink_obj_id": "O02@0011@00003",
+  "oakink_primitive": "hold",
+  "oakink_grasp_range": [
+    1191,
+    1931
+  ],
+  "oakink_window": [
+    1011,
+    1491
+  ],
+  "obj_first_frame_lowest_world_z": 0.17493900291149875,
+  "scene_lowest_world_z": 0.17455401396831044,
+  "object_descends_from_frame0": false,
+  "right_plate_top_world_z": 0.12493900291149874,
+  "floor_well_below_offset": 0.05,
+  "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0011_00003/convex"
+}

processed/oakinkv2/sharpa/right/stir_beaker/0/config.yaml

@@ -0,0 +1,123 @@
+robot_type: sharpa
+embodiment_type: right
+task: stir_beaker
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakinkv2
+data_id: 0
+model_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/stir_beaker/0/../scene.xml
+data_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 392
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.5
+max_revert_forward_attempts: 1
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: viser
+wait_on_finish: false
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: true
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 12
+- 1
+- 3
+- 5
+- 7
+- 9
+contact_order: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 7
+nq: 35
+nv: 34
+nu: 28
+npair: 213
+beta_traj: 0.31622776601683794
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+<mujoco model="right_sharpa">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" solver="CG" iterations="6">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_C_MC_visual" file="robots/sharpa/meshes/right_hand_C_MC_visual_.STL"/>
+    <mesh name="right_hand_C_MC" file="robots/sharpa/meshes/right_hand_C_MC.STL"/>
+    <mesh name="right_thumb_CMC_VL_visual" file="robots/sharpa/meshes/right_thumb_CMC_VL_visual.STL"/>
+    <mesh name="right_thumb_MC_visual" file="robots/sharpa/meshes/right_thumb_MC_visual.STL"/>
+    <mesh name="right_thumb_MC" file="robots/sharpa/meshes/right_thumb_MC.STL"/>
+    <mesh name="right_thumb_MCP_VL_visual" file="robots/sharpa/meshes/right_thumb_MCP_VL_visual.STL"/>
+    <mesh name="right_thumb_PP_visual" file="robots/sharpa/meshes/right_thumb_PP_visual.STL"/>
+    <mesh name="right_thumb_PP" file="robots/sharpa/meshes/right_thumb_PP.STL"/>
+    <mesh name="right_thumb_DP_visual" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_DP" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_elastomer" file="robots/sharpa/meshes/thumb_elastomer.STL"/>
+    <mesh name="right_MCP_VL_visual" file="robots/sharpa/meshes/right_MCP_VL_visual.STL"/>
+    <mesh name="right_MCP_VL" file="robots/sharpa/meshes/MCP_VL.STL"/>
+    <mesh name="right_PP_visual" file="robots/sharpa/meshes/right_PP_visual.STL"/>
+    <mesh name="right_PP" file="robots/sharpa/meshes/right_PP.STL"/>
+    <mesh name="right_MP_visual" file="robots/sharpa/meshes/right_MP_visual.STL"/>
+    <mesh name="right_MP" file="robots/sharpa/meshes/right_MP.STL"/>
+    <mesh name="right_DP_visual" file="robots/sharpa/meshes/right_DP_visual.STL"/>
+    <mesh name="right_DP" file="robots/sharpa/meshes/right_DP_visual.STL"/>
+    <mesh name="right_elastomer" file="robots/sharpa/meshes/elastomer.STL"/>
+    <mesh name="right_pinky_MC_visual" file="robots/sharpa/meshes/right_pinky_MC_visual.STL"/>
+    <mesh name="right_pinky_MC" file="robots/sharpa/meshes/right_pinky_MC.STL"/>
+    <mesh name="right_visual" file="objects/O02_0033_00001/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0033_00001/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0033_00001/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02_0033_00001/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0033_00001/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0033_00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02_0033_00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02_0033_00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02_0033_00001/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02_0033_00001/convex/8.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0564196" type="plane" material="right_groundplane"/>
+    <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3" dir="0 0 -1" type="directional"/>
+    <body name="right_hand_base" pos="0 0 0.2">
+      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <body name="right_hand_C_MC">
+        <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 name="right_hand_C_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC_visual"/>
+        <geom name="right_hand_C_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC"/>
+        <geom name="collision_hand_right_palm_0" size="0.02 0.04 0.04" pos="0 0 0.05" type="box" group="3" rgba="0 1 0 1"/>
+        <site name="right_palm" pos="0 0 0.05" rgba="1 1 0 1"/>
+        <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 name="right_thumb_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC_visual"/>
+            <geom name="right_thumb_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC"/>
+            <geom name="collision_hand_right_thumb_3" size="0.01 0.025" pos="0.032 -0.003 0.005" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_thumb_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP_visual"/>
+                <geom name="right_thumb_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP"/>
+                <geom name="collision_hand_right_thumb_2" size="0.008 0.015" pos="0.019 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <body name="right_thumb_DP" pos="0.039 0 0" quat="0.707105 0.707108 0 0">
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+                  <joint name="right_thumb_IP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
+                  <geom name="right_thumb_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP_visual"/>
+                  <geom name="right_thumb_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP"/>
+                  <geom name="right_thumb_elastomer_visual" 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"/>
+                  <geom name="right_thumb_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_thumb_elastomer"/>
+                  <geom name="collision_hand_right_thumb_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_thumb_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <site name="trace_hand_right_thumb_tip" pos="0.028 0 0" size="0.005"/>
+                  <site name="right_thumb_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
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+          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
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+            <geom name="right_index_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
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+            <geom name="collision_hand_right_ring_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_ring_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+              <geom name="right_ring_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+              <geom name="collision_hand_right_ring_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_ring_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_ring_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                <geom name="right_ring_elastomer_visual" 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"/>
+                <geom name="right_ring_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
+                <geom name="collision_hand_right_ring_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_ring_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <site name="trace_hand_right_ring_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_ring_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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 name="right_pinky_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC_visual"/>
+          <geom name="right_pinky_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC"/>
+          <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="-0.174533 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 name="right_pinky_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+              <geom name="right_pinky_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+              <geom name="collision_hand_right_pinky_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_pinky_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+                <geom name="right_pinky_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+                <geom name="collision_hand_right_pinky_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_pinky_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                  <geom name="right_pinky_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                  <geom name="right_pinky_elastomer_visual" 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"/>
+                  <geom name="right_pinky_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.1 1 0.2 1" mesh="right_elastomer"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_pinky_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <site name="trace_hand_right_pinky_tip" pos="0.028 0 0" size="0.005"/>
+                  <site name="right_pinky_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_0" name="collision_hand_right_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_1" name="collision_hand_right_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_2" name="collision_hand_right_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_3" name="collision_hand_right_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_4" name="collision_hand_right_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_5" name="collision_hand_right_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_6" name="collision_hand_right_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_7" name="collision_hand_right_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_8" name="collision_hand_right_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_0" name="collision_hand_right_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_1" name="collision_hand_right_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_3" geom2="right_object_3" name="collision_hand_right_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_8" name="collision_hand_right_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_0" name="collision_hand_right_middle_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_1" name="collision_hand_right_middle_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_2" name="collision_hand_right_middle_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_3" name="collision_hand_right_middle_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_4" name="collision_hand_right_middle_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_5" name="collision_hand_right_middle_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_6" name="collision_hand_right_middle_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_7" name="collision_hand_right_middle_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_8" name="collision_hand_right_middle_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_8" name="collision_hand_right_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_0" name="collision_hand_right_ring_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_1" name="collision_hand_right_ring_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_2" name="collision_hand_right_ring_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_3" name="collision_hand_right_ring_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_4" name="collision_hand_right_ring_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_5" name="collision_hand_right_ring_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_6" name="collision_hand_right_ring_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_7" name="collision_hand_right_ring_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_8" name="collision_hand_right_ring_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_8" name="collision_hand_right_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_0" name="collision_hand_right_pinky_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_1" name="collision_hand_right_pinky_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_2" name="collision_hand_right_pinky_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_3" name="collision_hand_right_pinky_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_4" name="collision_hand_right_pinky_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_5" name="collision_hand_right_pinky_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_6" name="collision_hand_right_pinky_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_7" name="collision_hand_right_pinky_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_8" name="collision_hand_right_pinky_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_8" name="collision_hand_right_pinky_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <exclude body1="right_hand_C_MC" body2="right_hand_C_MC"/>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_CMC_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_MC"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_pinky_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_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_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_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_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>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="right_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
+    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
+    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
+    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+  </actuator>
+</mujoco>

processed/oakinkv2/sharpa/right/stir_beaker/scene_eq.xml

@@ -0,0 +1,580 @@
+<mujoco model="right_sharpa">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" solver="CG" iterations="6">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_C_MC_visual" file="robots/sharpa/meshes/right_hand_C_MC_visual_.STL"/>
+    <mesh name="right_hand_C_MC" file="robots/sharpa/meshes/right_hand_C_MC.STL"/>
+    <mesh name="right_thumb_CMC_VL_visual" file="robots/sharpa/meshes/right_thumb_CMC_VL_visual.STL"/>
+    <mesh name="right_thumb_MC_visual" file="robots/sharpa/meshes/right_thumb_MC_visual.STL"/>
+    <mesh name="right_thumb_MC" file="robots/sharpa/meshes/right_thumb_MC.STL"/>
+    <mesh name="right_thumb_MCP_VL_visual" file="robots/sharpa/meshes/right_thumb_MCP_VL_visual.STL"/>
+    <mesh name="right_thumb_PP_visual" file="robots/sharpa/meshes/right_thumb_PP_visual.STL"/>
+    <mesh name="right_thumb_PP" file="robots/sharpa/meshes/right_thumb_PP.STL"/>
+    <mesh name="right_thumb_DP_visual" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_DP" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_elastomer" file="robots/sharpa/meshes/thumb_elastomer.STL"/>
+    <mesh name="right_MCP_VL_visual" file="robots/sharpa/meshes/right_MCP_VL_visual.STL"/>
+    <mesh name="right_MCP_VL" file="robots/sharpa/meshes/MCP_VL.STL"/>
+    <mesh name="right_PP_visual" file="robots/sharpa/meshes/right_PP_visual.STL"/>
+    <mesh name="right_PP" file="robots/sharpa/meshes/right_PP.STL"/>
+    <mesh name="right_MP_visual" file="robots/sharpa/meshes/right_MP_visual.STL"/>
+    <mesh name="right_MP" file="robots/sharpa/meshes/right_MP.STL"/>
+    <mesh name="right_DP_visual" file="robots/sharpa/meshes/right_DP_visual.STL"/>
+    <mesh name="right_DP" file="robots/sharpa/meshes/right_DP_visual.STL"/>
+    <mesh name="right_elastomer" file="robots/sharpa/meshes/elastomer.STL"/>
+    <mesh name="right_pinky_MC_visual" file="robots/sharpa/meshes/right_pinky_MC_visual.STL"/>
+    <mesh name="right_pinky_MC" file="robots/sharpa/meshes/right_pinky_MC.STL"/>
+    <mesh name="right_visual" file="objects/O02_0033_00001/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0033_00001/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0033_00001/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02_0033_00001/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0033_00001/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0033_00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02_0033_00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02_0033_00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02_0033_00001/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02_0033_00001/convex/8.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0564196" type="plane" material="right_groundplane"/>
+    <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3" dir="0 0 -1" type="directional"/>
+    <body name="right_hand_base" pos="0 0 0.2">
+      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <body name="right_hand_C_MC">
+        <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 name="right_hand_C_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC_visual"/>
+        <geom name="right_hand_C_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC"/>
+        <geom name="collision_hand_right_palm_0" size="0.02 0.04 0.04" pos="0 0 0.05" type="box" group="3" rgba="0 1 0 1"/>
+        <site name="right_palm" pos="0 0 0.05" rgba="1 1 0 1"/>
+        <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 name="right_thumb_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC_visual"/>
+            <geom name="right_thumb_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC"/>
+            <geom name="collision_hand_right_thumb_3" size="0.01 0.025" pos="0.032 -0.003 0.005" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_thumb_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP_visual"/>
+                <geom name="right_thumb_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP"/>
+                <geom name="collision_hand_right_thumb_2" size="0.008 0.015" pos="0.019 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_thumb_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP_visual"/>
+                  <geom name="right_thumb_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP"/>
+                  <geom name="right_thumb_elastomer_visual" 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"/>
+                  <geom name="right_thumb_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_thumb_elastomer"/>
+                  <geom name="collision_hand_right_thumb_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_thumb_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <site name="trace_hand_right_thumb_tip" pos="0.028 0 0" size="0.005"/>
+                  <site name="right_thumb_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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="-0.174533 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 name="right_index_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+            <geom name="right_index_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+            <geom name="collision_hand_right_index_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_index_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+              <geom name="right_index_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+              <geom name="collision_hand_right_index_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_index_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_index_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                <geom name="right_index_elastomer_visual" 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"/>
+                <geom name="right_index_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
+                <geom name="collision_hand_right_index_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_index_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <site name="trace_hand_right_index_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_index_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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="-0.174533 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 name="right_middle_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+            <geom name="right_middle_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+            <geom name="collision_hand_right_middle_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_middle_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+              <geom name="right_middle_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+              <geom name="collision_hand_right_middle_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_middle_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_middle_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                <geom name="right_middle_elastomer_visual" 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"/>
+                <geom name="right_middle_elastomer" quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
+                <geom name="collision_hand_right_middle_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_middle_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <site name="trace_hand_right_middle_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_middle_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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="-0.174533 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 name="right_ring_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+            <geom name="right_ring_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+            <geom name="collision_hand_right_ring_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_ring_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+              <geom name="right_ring_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+              <geom name="collision_hand_right_ring_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_ring_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_ring_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                <geom name="right_ring_elastomer_visual" 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"/>
+                <geom name="right_ring_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
+                <geom name="collision_hand_right_ring_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_ring_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <site name="trace_hand_right_ring_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_ring_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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 name="right_pinky_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC_visual"/>
+          <geom name="right_pinky_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC"/>
+          <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="-0.174533 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 name="right_pinky_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+              <geom name="right_pinky_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+              <geom name="collision_hand_right_pinky_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_pinky_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+                <geom name="right_pinky_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+                <geom name="collision_hand_right_pinky_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_pinky_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                  <geom name="right_pinky_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                  <geom name="right_pinky_elastomer_visual" 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"/>
+                  <geom name="right_pinky_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.1 1 0.2 1" mesh="right_elastomer"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_pinky_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <site name="trace_hand_right_pinky_tip" pos="0.028 0 0" size="0.005"/>
+                  <site name="right_pinky_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_0" name="collision_hand_right_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_1" name="collision_hand_right_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_2" name="collision_hand_right_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_3" name="collision_hand_right_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_4" name="collision_hand_right_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_5" name="collision_hand_right_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_6" name="collision_hand_right_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_7" name="collision_hand_right_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_8" name="collision_hand_right_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_0" name="collision_hand_right_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_1" name="collision_hand_right_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_2" name="collision_hand_right_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_3" name="collision_hand_right_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_4" name="collision_hand_right_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_5" name="collision_hand_right_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_6" name="collision_hand_right_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_7" name="collision_hand_right_index_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_8" name="collision_hand_right_index_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_8" name="collision_hand_right_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_0" name="collision_hand_right_middle_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_1" name="collision_hand_right_middle_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_2" name="collision_hand_right_middle_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_3" name="collision_hand_right_middle_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_4" name="collision_hand_right_middle_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_5" name="collision_hand_right_middle_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_6" name="collision_hand_right_middle_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_7" name="collision_hand_right_middle_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_8" name="collision_hand_right_middle_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_8" name="collision_hand_right_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_0" name="collision_hand_right_ring_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_1" name="collision_hand_right_ring_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_2" name="collision_hand_right_ring_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_3" name="collision_hand_right_ring_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_4" name="collision_hand_right_ring_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_5" name="collision_hand_right_ring_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_6" name="collision_hand_right_ring_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_7" name="collision_hand_right_ring_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_8" name="collision_hand_right_ring_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_8" name="collision_hand_right_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_0" name="collision_hand_right_pinky_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_1" name="collision_hand_right_pinky_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_2" name="collision_hand_right_pinky_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_3" name="collision_hand_right_pinky_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_4" name="collision_hand_right_pinky_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_5" name="collision_hand_right_pinky_3_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_6" name="collision_hand_right_pinky_3_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_7" name="collision_hand_right_pinky_3_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_8" name="collision_hand_right_pinky_3_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_8" name="collision_hand_right_pinky_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <exclude body1="right_hand_C_MC" body2="right_hand_C_MC"/>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_CMC_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_MC"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_pinky_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_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_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_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_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>
+
+  <equality>
+    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
+  </equality>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="right_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
+    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
+    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
+    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+  </actuator>
+</mujoco>

processed/oakinkv2/sharpa/right/stir_beaker/task_info.json

@@ -0,0 +1,31 @@
+{
+  "task": "stir_beaker",
+  "dataset_name": "oakinkv2",
+  "robot_type": "sharpa",
+  "embodiment_type": "right",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0033_00001",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.02,
+  "pre_grasp_seconds": 1.5,
+  "post_grasp_seconds": 2.5,
+  "n_frames": 200,
+  "oakink_seq_key": "scene_01__A005/seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31",
+  "oakink_seq_token": "scene_01__A005++seq__65ef09f4bf2106cb735d__2023-04-24-20-20-31",
+  "oakink_obj_id": "O02@0033@00001",
+  "oakink_primitive": "stir",
+  "oakink_grasp_range": [
+    8047,
+    9208
+  ],
+  "oakink_window": [
+    7867,
+    8347
+  ],
+  "obj_first_frame_lowest_world_z": 0.004580366042942055,
+  "scene_lowest_world_z": 0.003144324651462735,
+  "object_descends_from_frame0": false,
+  "right_plate_top_world_z": -0.04541963395705795,
+  "floor_well_below_offset": 0.05,
+  "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0033_00001/convex"
+}

processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/config.yaml

@@ -0,0 +1,123 @@
+robot_type: sharpa
+embodiment_type: right
+task: uncap_alcohol_burner
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakinkv2
+data_id: 0
+model_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/../scene.xml
+data_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 392
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.5
+max_revert_forward_attempts: 1
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: viser
+wait_on_finish: false
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: true
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 12
+- 1
+- 3
+- 5
+- 7
+- 9
+contact_order: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
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+<mujoco model="right_sharpa">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" solver="CG" iterations="6">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_C_MC_visual" file="robots/sharpa/meshes/right_hand_C_MC_visual_.STL"/>
+    <mesh name="right_hand_C_MC" file="robots/sharpa/meshes/right_hand_C_MC.STL"/>
+    <mesh name="right_thumb_CMC_VL_visual" file="robots/sharpa/meshes/right_thumb_CMC_VL_visual.STL"/>
+    <mesh name="right_thumb_MC_visual" file="robots/sharpa/meshes/right_thumb_MC_visual.STL"/>
+    <mesh name="right_thumb_MC" file="robots/sharpa/meshes/right_thumb_MC.STL"/>
+    <mesh name="right_thumb_MCP_VL_visual" file="robots/sharpa/meshes/right_thumb_MCP_VL_visual.STL"/>
+    <mesh name="right_thumb_PP_visual" file="robots/sharpa/meshes/right_thumb_PP_visual.STL"/>
+    <mesh name="right_thumb_PP" file="robots/sharpa/meshes/right_thumb_PP.STL"/>
+    <mesh name="right_thumb_DP_visual" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_DP" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_elastomer" file="robots/sharpa/meshes/thumb_elastomer.STL"/>
+    <mesh name="right_MCP_VL_visual" file="robots/sharpa/meshes/right_MCP_VL_visual.STL"/>
+    <mesh name="right_MCP_VL" file="robots/sharpa/meshes/MCP_VL.STL"/>
+    <mesh name="right_PP_visual" file="robots/sharpa/meshes/right_PP_visual.STL"/>
+    <mesh name="right_PP" file="robots/sharpa/meshes/right_PP.STL"/>
+    <mesh name="right_MP_visual" file="robots/sharpa/meshes/right_MP_visual.STL"/>
+    <mesh name="right_MP" file="robots/sharpa/meshes/right_MP.STL"/>
+    <mesh name="right_DP_visual" file="robots/sharpa/meshes/right_DP_visual.STL"/>
+    <mesh name="right_DP" file="robots/sharpa/meshes/right_DP_visual.STL"/>
+    <mesh name="right_elastomer" file="robots/sharpa/meshes/elastomer.STL"/>
+    <mesh name="right_pinky_MC_visual" file="robots/sharpa/meshes/right_pinky_MC_visual.STL"/>
+    <mesh name="right_pinky_MC" file="robots/sharpa/meshes/right_pinky_MC.STL"/>
+    <mesh name="right_visual" file="objects/O02_0206_00001/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0206_00001/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0206_00001/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02_0206_00001/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0206_00001/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0206_00001/convex/4.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 0.0123414" type="plane" material="right_groundplane"/>
+    <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3" dir="0 0 -1" type="directional"/>
+    <body name="right_hand_base" pos="0 0 0.2">
+      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <body name="right_hand_C_MC">
+        <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 name="right_hand_C_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC_visual"/>
+        <geom name="right_hand_C_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC"/>
+        <geom name="collision_hand_right_palm_0" size="0.02 0.04 0.04" pos="0 0 0.05" type="box" group="3" rgba="0 1 0 1"/>
+        <site name="right_palm" pos="0 0 0.05" rgba="1 1 0 1"/>
+        <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 name="right_thumb_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC_visual"/>
+            <geom name="right_thumb_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC"/>
+            <geom name="collision_hand_right_thumb_3" size="0.01 0.025" pos="0.032 -0.003 0.005" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_thumb_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP_visual"/>
+                <geom name="right_thumb_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP"/>
+                <geom name="collision_hand_right_thumb_2" size="0.008 0.015" pos="0.019 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_thumb_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP_visual"/>
+                  <geom name="right_thumb_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP"/>
+                  <geom name="right_thumb_elastomer_visual" 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"/>
+                  <geom name="right_thumb_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_thumb_elastomer"/>
+                  <geom name="collision_hand_right_thumb_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_thumb_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <site name="trace_hand_right_thumb_tip" pos="0.028 0 0" size="0.005"/>
+                  <site name="right_thumb_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="right_index_MCP_VL" pos="0.001 0.0303 0.0959" quat="0.499998 -0.500002 -0.5 -0.5">
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+          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
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+            <joint name="right_index_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
+            <geom name="right_index_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
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+          <joint name="right_ring_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.174533 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 name="right_ring_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+            <geom name="right_ring_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+            <geom name="collision_hand_right_ring_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_ring_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+              <geom name="right_ring_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+              <geom name="collision_hand_right_ring_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_ring_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_ring_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                <geom name="right_ring_elastomer_visual" 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"/>
+                <geom name="right_ring_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
+                <geom name="collision_hand_right_ring_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_ring_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <site name="trace_hand_right_ring_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_ring_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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 name="right_pinky_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC_visual"/>
+          <geom name="right_pinky_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC"/>
+          <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="-0.174533 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 name="right_pinky_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+              <geom name="right_pinky_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+              <geom name="collision_hand_right_pinky_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_pinky_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+                <geom name="right_pinky_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+                <geom name="collision_hand_right_pinky_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_pinky_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                  <geom name="right_pinky_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                  <geom name="right_pinky_elastomer_visual" 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"/>
+                  <geom name="right_pinky_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.1 1 0.2 1" mesh="right_elastomer"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_pinky_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <site name="trace_hand_right_pinky_tip" pos="0.028 0 0" size="0.005"/>
+                  <site name="right_pinky_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_0" name="collision_hand_right_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_1" name="collision_hand_right_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_2" name="collision_hand_right_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_3" name="collision_hand_right_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_4" name="collision_hand_right_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_0" name="collision_hand_right_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_1" name="collision_hand_right_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_2" name="collision_hand_right_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_3" name="collision_hand_right_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_4" name="collision_hand_right_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_0" name="collision_hand_right_middle_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_1" name="collision_hand_right_middle_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_2" name="collision_hand_right_middle_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_3" name="collision_hand_right_middle_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_4" name="collision_hand_right_middle_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_0" name="collision_hand_right_ring_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_1" name="collision_hand_right_ring_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_2" name="collision_hand_right_ring_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_3" name="collision_hand_right_ring_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_4" name="collision_hand_right_ring_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_0" name="collision_hand_right_pinky_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_1" name="collision_hand_right_pinky_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_2" name="collision_hand_right_pinky_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_3" name="collision_hand_right_pinky_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_4" name="collision_hand_right_pinky_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <exclude body1="right_hand_C_MC" body2="right_hand_C_MC"/>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_CMC_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_MC"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_pinky_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_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_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_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_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>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="right_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
+    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
+    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
+    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+  </actuator>
+</mujoco>

processed/oakinkv2/sharpa/right/uncap_alcohol_burner/scene_eq.xml

@@ -0,0 +1,484 @@
+<mujoco model="right_sharpa">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" solver="CG" iterations="6">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_C_MC_visual" file="robots/sharpa/meshes/right_hand_C_MC_visual_.STL"/>
+    <mesh name="right_hand_C_MC" file="robots/sharpa/meshes/right_hand_C_MC.STL"/>
+    <mesh name="right_thumb_CMC_VL_visual" file="robots/sharpa/meshes/right_thumb_CMC_VL_visual.STL"/>
+    <mesh name="right_thumb_MC_visual" file="robots/sharpa/meshes/right_thumb_MC_visual.STL"/>
+    <mesh name="right_thumb_MC" file="robots/sharpa/meshes/right_thumb_MC.STL"/>
+    <mesh name="right_thumb_MCP_VL_visual" file="robots/sharpa/meshes/right_thumb_MCP_VL_visual.STL"/>
+    <mesh name="right_thumb_PP_visual" file="robots/sharpa/meshes/right_thumb_PP_visual.STL"/>
+    <mesh name="right_thumb_PP" file="robots/sharpa/meshes/right_thumb_PP.STL"/>
+    <mesh name="right_thumb_DP_visual" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_DP" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
+    <mesh name="right_thumb_elastomer" file="robots/sharpa/meshes/thumb_elastomer.STL"/>
+    <mesh name="right_MCP_VL_visual" file="robots/sharpa/meshes/right_MCP_VL_visual.STL"/>
+    <mesh name="right_MCP_VL" file="robots/sharpa/meshes/MCP_VL.STL"/>
+    <mesh name="right_PP_visual" file="robots/sharpa/meshes/right_PP_visual.STL"/>
+    <mesh name="right_PP" file="robots/sharpa/meshes/right_PP.STL"/>
+    <mesh name="right_MP_visual" file="robots/sharpa/meshes/right_MP_visual.STL"/>
+    <mesh name="right_MP" file="robots/sharpa/meshes/right_MP.STL"/>
+    <mesh name="right_DP_visual" file="robots/sharpa/meshes/right_DP_visual.STL"/>
+    <mesh name="right_DP" file="robots/sharpa/meshes/right_DP_visual.STL"/>
+    <mesh name="right_elastomer" file="robots/sharpa/meshes/elastomer.STL"/>
+    <mesh name="right_pinky_MC_visual" file="robots/sharpa/meshes/right_pinky_MC_visual.STL"/>
+    <mesh name="right_pinky_MC" file="robots/sharpa/meshes/right_pinky_MC.STL"/>
+    <mesh name="right_visual" file="objects/O02_0206_00001/visual.obj"/>
+    <mesh name="right_0" file="objects/O02_0206_00001/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02_0206_00001/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02_0206_00001/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02_0206_00001/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02_0206_00001/convex/4.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 0.0123414" type="plane" material="right_groundplane"/>
+    <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3" dir="0 0 -1" type="directional"/>
+    <body name="right_hand_base" pos="0 0 0.2">
+      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <body name="right_hand_C_MC">
+        <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 name="right_hand_C_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC_visual"/>
+        <geom name="right_hand_C_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC"/>
+        <geom name="collision_hand_right_palm_0" size="0.02 0.04 0.04" pos="0 0 0.05" type="box" group="3" rgba="0 1 0 1"/>
+        <site name="right_palm" pos="0 0 0.05" rgba="1 1 0 1"/>
+        <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 name="right_thumb_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC_visual"/>
+            <geom name="right_thumb_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC"/>
+            <geom name="collision_hand_right_thumb_3" size="0.01 0.025" pos="0.032 -0.003 0.005" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_thumb_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP_visual"/>
+                <geom name="right_thumb_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP"/>
+                <geom name="collision_hand_right_thumb_2" size="0.008 0.015" pos="0.019 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_thumb_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP_visual"/>
+                  <geom name="right_thumb_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP"/>
+                  <geom name="right_thumb_elastomer_visual" 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"/>
+                  <geom name="right_thumb_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_thumb_elastomer"/>
+                  <geom name="collision_hand_right_thumb_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_thumb_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <site name="trace_hand_right_thumb_tip" pos="0.028 0 0" size="0.005"/>
+                  <site name="right_thumb_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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="-0.174533 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 name="right_index_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+            <geom name="right_index_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+            <geom name="collision_hand_right_index_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_index_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+              <geom name="right_index_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+              <geom name="collision_hand_right_index_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_index_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_index_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                <geom name="right_index_elastomer_visual" 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"/>
+                <geom name="right_index_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
+                <geom name="collision_hand_right_index_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_index_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <site name="trace_hand_right_index_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_index_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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="-0.174533 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 name="right_middle_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+            <geom name="right_middle_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+            <geom name="collision_hand_right_middle_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_middle_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+              <geom name="right_middle_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+              <geom name="collision_hand_right_middle_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_middle_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_middle_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                <geom name="right_middle_elastomer_visual" 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"/>
+                <geom name="right_middle_elastomer" quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
+                <geom name="collision_hand_right_middle_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_middle_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <site name="trace_hand_right_middle_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_middle_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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="-0.174533 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 name="right_ring_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+            <geom name="right_ring_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+            <geom name="collision_hand_right_ring_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_ring_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+              <geom name="right_ring_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+              <geom name="collision_hand_right_ring_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_ring_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                <geom name="right_ring_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                <geom name="right_ring_elastomer_visual" 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"/>
+                <geom name="right_ring_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
+                <geom name="collision_hand_right_ring_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_ring_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                <site name="trace_hand_right_ring_tip" pos="0.028 0 0" size="0.005"/>
+                <site name="right_ring_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <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 name="right_pinky_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC_visual"/>
+          <geom name="right_pinky_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC"/>
+          <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="-0.174533 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 name="right_pinky_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
+              <geom name="right_pinky_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
+              <geom name="collision_hand_right_pinky_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_pinky_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
+                <geom name="right_pinky_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
+                <geom name="collision_hand_right_pinky_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" 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 name="right_pinky_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
+                  <geom name="right_pinky_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
+                  <geom name="right_pinky_elastomer_visual" 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"/>
+                  <geom name="right_pinky_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.1 1 0.2 1" mesh="right_elastomer"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_pinky_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <site name="trace_hand_right_pinky_tip" pos="0.028 0 0" size="0.005"/>
+                  <site name="right_pinky_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_0" name="collision_hand_right_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_1" name="collision_hand_right_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_2" name="collision_hand_right_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_3" name="collision_hand_right_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_4" name="collision_hand_right_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_0" name="collision_hand_right_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_1" name="collision_hand_right_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_2" name="collision_hand_right_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_3" name="collision_hand_right_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_3" geom2="right_object_4" name="collision_hand_right_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_0" name="collision_hand_right_middle_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_1" name="collision_hand_right_middle_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_2" name="collision_hand_right_middle_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_3" name="collision_hand_right_middle_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_3" geom2="right_object_4" name="collision_hand_right_middle_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_0" name="collision_hand_right_ring_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_1" name="collision_hand_right_ring_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_2" name="collision_hand_right_ring_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_3" name="collision_hand_right_ring_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_3" geom2="right_object_4" name="collision_hand_right_ring_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_0" name="collision_hand_right_pinky_3_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_1" name="collision_hand_right_pinky_3_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_2" name="collision_hand_right_pinky_3_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_3" name="collision_hand_right_pinky_3_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_4" name="collision_hand_right_pinky_3_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <exclude body1="right_hand_C_MC" body2="right_hand_C_MC"/>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_CMC_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_thumb_MC"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_index_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_middle_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_MCP_VL"/>
+    <exclude body1="right_hand_C_MC" body2="right_ring_PP"/>
+    <exclude body1="right_hand_C_MC" body2="right_pinky_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_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_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_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_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>
+
+  <equality>
+    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
+  </equality>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="right_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
+    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
+    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
+    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
+    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
+    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+  </actuator>
+</mujoco>

processed/oakinkv2/sharpa/right/uncap_alcohol_burner/task_info.json

@@ -0,0 +1,31 @@
+{
+  "task": "uncap_alcohol_burner",
+  "dataset_name": "oakinkv2",
+  "robot_type": "sharpa",
+  "embodiment_type": "right",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0206_00001",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.02,
+  "pre_grasp_seconds": 1.5,
+  "post_grasp_seconds": 2.5,
+  "n_frames": 200,
+  "oakink_seq_key": "scene_03__A007/seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31",
+  "oakink_seq_token": "scene_03__A007++seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31",
+  "oakink_obj_id": "O02@0206@00001",
+  "oakink_primitive": "uncap_alcohol_lamp",
+  "oakink_grasp_range": [
+    9187,
+    9423
+  ],
+  "oakink_window": [
+    9007,
+    9423
+  ],
+  "obj_first_frame_lowest_world_z": 0.07334136502724108,
+  "scene_lowest_world_z": -0.005303162150084927,
+  "object_descends_from_frame0": true,
+  "right_plate_top_world_z": 0.023341365027241073,
+  "floor_well_below_offset": 0.05,
+  "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0206_00001/convex"
+}

processed/oakinkv2/sharpa/right/wipe_board/0/config.yaml

@@ -0,0 +1,123 @@
+robot_type: sharpa
+embodiment_type: right
+task: wipe_board
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakinkv2
+data_id: 0
+model_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/wipe_board/0/../scene.xml
+data_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 392
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.5
+max_revert_forward_attempts: 1
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: viser
+wait_on_finish: false
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: true
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 12
+- 1
+- 3
+- 5
+- 7
+- 9
+contact_order: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 7
+nq: 35
+nv: 34
+nu: 28
+npair: 213
+beta_traj: 0.31622776601683794
+output_dir: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/wipe_board/0

processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_ikrollout.npz

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+size 55142

processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_kinematic.npz

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processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_mjwp_fast.npz

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+size 620533

processed/oakinkv2/sharpa/right/wipe_board/0/visualization_ik.mp4

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+size 213513

processed/oakinkv2/sharpa/right/wipe_board/0/visualization_ik.viser

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+size 1562167

processed/oakinkv2/sharpa/right/wipe_board/0/visualization_mjwp_fast.mp4

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+size 392996

processed/oakinkv2/sharpa/right/wipe_board/0/visualization_mjwp_fast.viser

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